Diff: OneLeg/OneLeg.cpp

Revision:

11:e81425872740

Child:

14:d7cb429946f4

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/OneLeg/OneLeg.cpp	Mon Feb 11 12:56:00 2019 +0000
@@ -0,0 +1,58 @@
+#include "OneLeg.h"
+#include "mbed.h"
+const float M_PI = 3.141592;
+//注：未完成。本来ならradから計算したい。今のままだとradが更新されてもx,yが更新されない
+float OneLeg::GetX_m()
+{
+    return x_m_;
+}
+float OneLeg::GetY_m()
+{
+    return y_m_;
+}
+void OneLeg::SetXY_m(float x_m, float y_m)
+{
+    CalServoRad(x_m, y_m);
+    if (isnan(GetRad(0)) || isnan(GetRad(1)))
+        printf("error:(x,y) = (%f,%f) is out of range ", x_m, y_m);
+    else
+    {
+        x_m_ = x_m;
+        y_m_ = y_m;
+    }
+}
+
+OneLeg::OneLeg(float between_servo_half_m,
+               float leglength1, float leglength2)
+{
+    rad_[0] = 0;
+    rad_[1] = M_PI;
+    between_servo_half_m_ = between_servo_half_m;
+    leglength1_ = leglength1;
+    leglength2_ = leglength2;
+}
+void OneLeg::CalServoRad(float x_m, float y_m)
+{
+    //処理を軽くするために共通部分は先に計算
+    float temp_x[] = {
+        x_m + between_servo_half_m_,
+        x_m - between_servo_half_m_,
+    };
+    float temp_y2 = y_m * y_m;
+    float temp_L = leglength1_ * leglength1_ - leglength2_ * leglength2_;
+
+    float r1 = sqrt((temp_x[1]) * (temp_x[1]) + temp_y2);
+    float r2 = sqrt((temp_x[0]) * (temp_x[0]) + temp_y2);
+    float targetTheta[] = {atan2(y_m, temp_x[1]) - acos((temp_L + r1 * r1) / (2.0f * r1 * leglength1_)),
+                           atan2(y_m, temp_x[0]) + acos((temp_L + r2 * r2) / (2.0f * r2 * leglength1_))};
+    for (size_t i = 0; i < 2; i++)
+        SetRad(targetTheta[i], i);
+}
+void OneLeg::SetRad(float rad, int servo_num)
+{
+    rad_[servo_num] = rad;
+}
+float OneLeg::GetRad(int servo_num)
+{
+    return rad_[servo_num];
+}