Revision 0:ee4e3ab4db45, committed 21 months ago

Comitter:

me33004m

Date:

Wed Nov 16 08:37:38 2022 +0000

Commit message:

abesshape

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Wed Nov 16 08:37:38 2022 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/sshape.cpp	Wed Nov 16 08:37:38 2022 +0000
@@ -0,0 +1,51 @@
+#include "sshape.h"
+
+shape::shape(double time){
+    time_c = time;
+}
+
+int shape::pm(double num){
+    return (num>0)-(num<0);
+}
+double shape::start(){
+    start_m = clock();
+    return start_m;
+}
+double shape::shapeTime(double starttime){
+    return ((double)(clock() - starttime) / 100);
+}
+    
+double shape::compute(double stickpoints,double starttime,double add){
+    shapeS_m = kasokudo(time_c,starttime,stickpoints,add);
+    if(pm(stickpoints - add_m)*shapeS_m <= pm(stickpoints - add)*stickpoints){
+        shapeS_m = kasokudo(time_c,starttime,stickpoints,add);
+    }else{
+        add_m = stickpoints;
+        return add_m;
+    }
+    return shapeS_m;
+}
+
+double shape::kasokudo(double time_s,double start_s,double points_s,double add_s){
+
+    if(points_s != 0){
+        if(points_s>add_s){
+            tmp =  ((double)(clock() - start_s) / 100)/time_s;
+            shapeSpeed = tmp*tmp*pm(points_s)*fabs(points_s-add_s)*pm(points_s)+add_s;
+        }else{
+            tmp =  ((double)(clock() - start_s) / 100)/time_s;
+            shapeSpeed = tmp*tmp*pm(points_s)*-fabs(points_s-add_s)*pm(points_s)+add_s;
+        }
+    }else{
+        if(points_s>add_s){
+            tmp =  ((double)(clock() - start_s) / 100)/time_s;
+            shapeSpeed = tmp*tmp*-add_s + add_s;
+        }else{
+            tmp =  ((double)(clock() - start_s) / 100)/time_s;
+            shapeSpeed = -tmp*tmp*add_s + add_s;
+        }
+    }
+
+    return shapeSpeed;
+    
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/sshape.h	Wed Nov 16 08:37:38 2022 +0000
@@ -0,0 +1,68 @@
+#ifndef SSHAPE_H
+#define SSHAPE_H
+
+#include "stdio.h"
+#include "math.h"
+#include "time.h"
+#include "mbed.h"
+/*  samplecode
+#include "stdio.h"
+#include "sshape.h"
+#include "mbed.h"
+#include "time.h"
+#include "stdlib.h"
+
+#define time 10
+
+shape sshape(time);
+
+ Serial pc(USBTX, USBRX, 115200);
+double pm(double num);
+
+int main(void){
+    double stickpoints = 10.0;
+    double add = 0;
+    while(1){
+        sshape.start();
+        double start = sshape.start();
+        
+        while(1){
+        pc.printf("spend time  :  %4.2f  ",sshape.shapeTime(start));
+        pc.printf("shape : %.2f  Target : %.2f add : %.2f\r\n",sshape.compute(stickpoints,start,add),stickpoints,add);
+        if(pm(stickpoints-add)*sshape.compute(stickpoints,start,add) >= pm(stickpoints-add)*stickpoints){
+            add = sshape.compute(stickpoints,start,add);
+            pc.printf("aaaaaaaaaaaaaaddddddddddddd   %f",add);
+        break;}
+        }
+        for(int i=0; i<10; i++){
+            pc.printf("%f",add);
+        }
+        stickpoints = rand() % 257- 128;;
+    }
+}
+double pm(double num){
+    return (num>0)-(num<0);
+}
+
+        
+*/
+
+class shape {
+public:
+    shape(double time);
+    double compute(double stickpoints,double starttime,double add);
+    double start();
+    double shapeTime(double starttime);
+    double kasokudo(double time_s,double start_s,double points_s,double add_s);
+    int pm(double num);
+private:
+    double shapeS_m;
+    double add_m;
+    double time_tmp;
+    double tmp;
+    double time_c;
+    double shapeSpeed;
+    double time;
+    clock_t start_m;
+};
+#endif