シンイチ 田中 / AMT21_right_arm

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API Documentation at this revision

Revision 5:b78f031b66f7, committed 2021-09-10

Comitter:
oshin1030
Date:
Fri Sep 10 08:55:09 2021 +0000
Parent:
4:1ee3f6183111
Commit message:
9/10;

Changed in this revision

AMT21.cpp Show annotated file Show diff for this revision Revisions of this file
AMT21.h Show annotated file Show diff for this revision Revisions of this file 
--- a/AMT21.cpp	Wed Apr 14 12:18:56 2021 +0000
+++ b/AMT21.cpp	Fri Sep 10 08:55:09 2021 +0000
@@ -56,25 +56,34 @@
     receive_mode=RECEIVE_TURN;
     sendMessage();
     wait_us(190);
-    int turn,receive_;
+    int turn_,receive_;
     receive_=((high_turn&0b00111111)<<8)+low_turn;
     if(receive_>th_max&&receive_old<th_min) {//ターン数がアンダーフローしたとき
         flow_count--;
     } else if(receive_<th_min&&receive_old>th_max) { //ターン数がオーバーフローした場合
         flow_count++;
     }
-    turn=receive_+flow_count*RESOLUTION_AMT21;
+    turn_=receive_+flow_count*RESOLUTION_AMT21;
     receive_old=receive_;
-    return turn;
+    return turn_;
 }
-void Amt21::rewriteCount()
+void Amt21::rewriteCount_1()
 {
-    int count,turn;
+    int count,turn_;
     count=getAbCount();
     wait_us(200);
-    turn=getTurn();
-    count_=count+RESOLUTION_AMT21*turn;
+    turn_=getTurn();
+    count_=-(count+RESOLUTION_AMT21*turn_);
 }
+void Amt21::rewriteCount_2()
+{
+    int count,turn_;
+    count=getAbCount();
+    wait_us(200);
+    turn_=getTurn();
+    count_=count+RESOLUTION_AMT21*turn_;
+}
+
 int Amt21::getCount()
 {
     return count_;

--- a/AMT21.h	Wed Apr 14 12:18:56 2021 +0000
+++ b/AMT21.h	Fri Sep 10 08:55:09 2021 +0000
@@ -50,7 +50,8 @@
 
     Timer timer_;
 
-    void rewriteCount();//１周期に１度呼び出す。
+    void rewriteCount_1();//１周期に１度呼び出す。
+    void rewriteCount_2();//１周期に１度呼び出す。
     int getCount();//インクリメント型のカウントと同じように使えて、-のカウントや16383以上のカウントを返す。
     double getDeg();//角度[°]を返す
     double getRad();//角度[rad]を返す