miki sumito / Mbed 2 deprecated four_wheel_omni

四輪オムニの足回りを動かすプログラム

Dependencies:   mbed

rotaryinc/rotaryinc.hpp@0:39c2bb18192b, 2022-10-08 (annotated)

Committer:
m_smt
Date:
Sat Oct 08 11:13:31 2022 +0000
Revision:
0:39c2bb18192b
move four wheel omni

Who changed what in which revision?

UserRevisionLine numberNew contents of line
m_smt 0:39c2bb18192b 1 #ifndef ROTARY_INC_
m_smt 0:39c2bb18192b 2 #define ROTARY_INC_
m_smt 0:39c2bb18192b 3 #include <mbed.h>
m_smt 0:39c2bb18192b 4 #define M_PI 3.1415926535
m_smt 0:39c2bb18192b 5
m_smt 0:39c2bb18192b 6 #if 0
m_smt 0:39c2bb18192b 7 ~example~
m_smt 0:39c2bb18192b 8 rotaryinc name(ピン名1,ピン名2,オムニの直径,パルスの分解能,一回のプログラムの時間(Δt))でこのクラスを使うことができる
m_smt 0:39c2bb18192b 9 name.getpulse()でパルスの値を取得できる
m_smt 0:39c2bb18192b 10 name.getspeed()でモータの速さを取得できる
m_smt 0:39c2bb18192b 11 　 name.loop(一回のプログラムの時間(Δt))でΔt秒ごとのプログラムにできる
m_smt 0:39c2bb18192b 12 #endif
m_smt 0:39c2bb18192b 13
m_smt 0:39c2bb18192b 14 class rotaryinc
m_smt 0:39c2bb18192b 15 {
m_smt 0:39c2bb18192b 16 public:
m_smt 0:39c2bb18192b 17 rotaryinc(PinName pinA,PinName pinB,double,double,double);
m_smt 0:39c2bb18192b 18 ~rotaryinc();
m_smt 0:39c2bb18192b 19 Timer timer;
m_smt 0:39c2bb18192b 20 double getpulse();
m_smt 0:39c2bb18192b 21 double getspeed();
m_smt 0:39c2bb18192b 22 double gettheta();
m_smt 0:39c2bb18192b 23 double getomega();
m_smt 0:39c2bb18192b 24 double getrevolution();
m_smt 0:39c2bb18192b 25 void loop();
m_smt 0:39c2bb18192b 26 private:
m_smt 0:39c2bb18192b 27 InterruptIn *pin_a_,*pin_b_;
m_smt 0:39c2bb18192b 28 double time;
m_smt 0:39c2bb18192b 29 double pulse[2];
m_smt 0:39c2bb18192b 30 double speed;
m_smt 0:39c2bb18192b 31 void init(PinName,PinName);
m_smt 0:39c2bb18192b 32 void riseA(void);
m_smt 0:39c2bb18192b 33 void riseB(void);
m_smt 0:39c2bb18192b 34 void fallA(void);
m_smt 0:39c2bb18192b 35 void fallB(void);
m_smt 0:39c2bb18192b 36 double theta[2];
m_smt 0:39c2bb18192b 37 double omega;
m_smt 0:39c2bb18192b 38 double Resolution;
m_smt 0:39c2bb18192b 39 double Diameter;
m_smt 0:39c2bb18192b 40 double dt_;
m_smt 0:39c2bb18192b 41 double revolution_num;
m_smt 0:39c2bb18192b 42 };
m_smt 0:39c2bb18192b 43
m_smt 0:39c2bb18192b 44 #endif