加速度・ジャイロセンサのセッティング
Dependents: Aigamozu_Robot_March
setting.h@3:00c23c8ff4d8, 2016-02-16 (annotated)
- Committer:
- s1200058
- Date:
- Tue Feb 16 09:38:53 2016 +0000
- Revision:
- 3:00c23c8ff4d8
- Parent:
- 1:b2263c93d1d4
for calibration compass;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
s1200058 | 0:2299c333a9b4 | 1 | #include "mbed.h" |
s1200058 | 0:2299c333a9b4 | 2 | #include "math.h" |
s1200058 | 0:2299c333a9b4 | 3 | |
s1200058 | 0:2299c333a9b4 | 4 | #define PI 3.141592 |
s1200058 | 0:2299c333a9b4 | 5 | |
s1200058 | 0:2299c333a9b4 | 6 | struct vector2D{ |
s1200058 | 0:2299c333a9b4 | 7 | double x; |
s1200058 | 0:2299c333a9b4 | 8 | double y; |
s1200058 | 0:2299c333a9b4 | 9 | }; |
s1200058 | 0:2299c333a9b4 | 10 | |
s1200058 | 0:2299c333a9b4 | 11 | struct vector3D{ |
s1200058 | 0:2299c333a9b4 | 12 | int16_t x; |
s1200058 | 0:2299c333a9b4 | 13 | int16_t y; |
s1200058 | 0:2299c333a9b4 | 14 | int16_t z; |
s1200058 | 0:2299c333a9b4 | 15 | }; |
s1200058 | 0:2299c333a9b4 | 16 | |
s1200058 | 0:2299c333a9b4 | 17 | struct double_vector3D{ |
s1200058 | 0:2299c333a9b4 | 18 | double x; |
s1200058 | 0:2299c333a9b4 | 19 | double y; |
s1200058 | 0:2299c333a9b4 | 20 | double z; |
s1200058 | 0:2299c333a9b4 | 21 | }; |
s1200058 | 0:2299c333a9b4 | 22 | |
s1200058 | 0:2299c333a9b4 | 23 | |
s1200058 | 0:2299c333a9b4 | 24 | class setting{ |
s1200058 | 0:2299c333a9b4 | 25 | |
s1200058 | 0:2299c333a9b4 | 26 | public: |
s1200058 | 0:2299c333a9b4 | 27 | |
s1200058 | 0:2299c333a9b4 | 28 | void setGpsPoint(long , long, long, long); |
s1200058 | 0:2299c333a9b4 | 29 | void setAngle(double); |
s1200058 | 0:2299c333a9b4 | 30 | void setCmp(int16_t, int16_t, int16_t); |
s1200058 | 0:2299c333a9b4 | 31 | void setAcc(int16_t, int16_t, int16_t); |
s1200058 | 0:2299c333a9b4 | 32 | void setGyr(int16_t, int16_t, int16_t); |
s1200058 | 0:2299c333a9b4 | 33 | void setGpsDistance(); |
s1200058 | 0:2299c333a9b4 | 34 | |
s1200058 | 0:2299c333a9b4 | 35 | int flag, changeFlag; |
s1200058 | 1:b2263c93d1d4 | 36 | double gpsAngle, pastGpsAngle, difAngle; |
s1200058 | 0:2299c333a9b4 | 37 | |
s1200058 | 0:2299c333a9b4 | 38 | vector2D gpsPoint, pastGpsPoint, gpsDis, newDis; |
s1200058 | 0:2299c333a9b4 | 39 | vector3D agzCmp, agzAcc, agzGyr, caribCmp, caribAcc, caribGyr, pastGyr; |
s1200058 | 0:2299c333a9b4 | 40 | // vector3D maxCmp, minCmp, maxAcc, minAcc, maxGyr, minGyr; |
s1200058 | 0:2299c333a9b4 | 41 | |
s1200058 | 0:2299c333a9b4 | 42 | }; |