Diff: Position.h

Revision:

0:c21936a3520a

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Position.h	Mon Mar 23 08:38:40 2020 +0000
@@ -0,0 +1,61 @@
+double taget_position[6]={0,};
+double oder_position[6]={0,};
+
+double now_degree[6]={0,};
+double error_degree[6]={0,};
+
+double gear[6]={1.5,1.5,1.5,1.5,1.5,1.5};
+
+void taget_position_read()
+{
+    
+    taget_position[0]=first_degree;
+    taget_position[1]=second_degree;
+    taget_position[2]=third_degree;
+    taget_position[3]=four_degree;
+    taget_position[4]=five_degree;
+    taget_position[5]=six_degree;
+    
+
+}
+
+void input_filter()
+{
+for(int i=0;i<6;i++)
+    oder_position[i] = oder_position[i]*(1-Position_input_filter[i]) + taget_position[i]*Position_input_filter[i];
+}
+
+void cal_error()
+{
+    for(int i=0;i<6;i++)
+    error_degree[i] = oder_position[i]-now_degree[i];
+}
+
+void cal_degree()
+{
+  for(int i=0;i<6;i++)
+  now_degree[i] = -(((double)encoder_data[i]/100)/1024)*90 * gear[i];
+}
+
+void Position_P()
+{
+    for(int i=0;i<6;i++)
+        taget_speed[i]=error_degree[i]*position_Pgain[i];
+}
+
+
+
+void Position_PID()
+{
+  taget_position_read();
+
+  input_filter();
+        
+  cal_degree();
+  
+  cal_error();
+  
+  Position_P();
+
+}
+