sshape.h

00001 #ifndef SSHAPE_H
00002 #define SSHAPE_H
00003 
00004 #include "stdio.h"
00005 #include "math.h"
00006 #include "time.h"
00007 #include "mbed.h"
00008 /*  samplecode
00009 #include "stdio.h"
00010 #include "sshape.h"
00011 #include "mbed.h"
00012 #include "time.h"
00013 #include "stdlib.h"
00014 
00015 #define time 10
00016 
00017 shape sshape(time);
00018 
00019  Serial pc(USBTX, USBRX, 115200);
00020 double pm(double num);
00021 
00022 int main(void){
00023     double stickpoints = 10.0;
00024     double add = 0;
00025     while(1){
00026         sshape.start();
00027         double start = sshape.start();
00028         
00029         while(1){
00030         pc.printf("spend time  :  %4.2f  ",sshape.shapeTime(start));
00031         pc.printf("shape : %.2f  Target : %.2f add : %.2f\r\n",sshape.compute(stickpoints,start,add),stickpoints,add);
00032         if(pm(stickpoints-add)*sshape.compute(stickpoints,start,add) >= pm(stickpoints-add)*stickpoints){
00033             add = sshape.compute(stickpoints,start,add);
00034             pc.printf("aaaaaaaaaaaaaaddddddddddddd   %f",add);
00035         break;}
00036         }
00037         for(int i=0; i<10; i++){
00038             pc.printf("%f",add);
00039         }
00040         stickpoints = rand() % 257- 128;;
00041     }
00042 }
00043 double pm(double num){
00044     return (num>0)-(num<0);
00045 }
00046 
00047         
00048 */
00049 
00050 class shape {
00051 public:
00052     shape(double time);
00053     double compute(double stickpoints,double starttime,double add);
00054     double start();
00055     double shapeTime(double starttime);
00056     double kasokudo(double time_s,double start_s,double points_s,double add_s);
00057     int pm(double num);
00058 private:
00059     double shapeS_m;
00060     double add_m;
00061     double time_tmp;
00062     double tmp;
00063     double time_c;
00064     double shapeSpeed;
00065     double time;
00066     clock_t start_m;
00067 };
00068 #endif