Tk A / Locate

fs

Dependents:   ARAI45th 3servotest 1stcomp 3rdcompfixstart ... more

Diff: locate.h

Revision:
6:27d0384052d2
Parent:
5:d9857c701310
--- a/locate.h	Wed Sep 07 07:36:42 2016 +0000
+++ b/locate.h	Sat Sep 10 12:16:57 2016 +0000
@@ -11,7 +11,7 @@
 #define PI              3.14159         //π
 #define RESOLUSION      400             //P/R(分解能)
 #define DIAMETER        31.8            //タイヤの直径(mm)
-#define ROUND_HOSEI     1.04            //角度のズレを補正
+#define ROUND_HOSEI     1.038            //角度のズレを補正
 
 // エンコーダの１ステップあたりの距離(mm)
 #define LOCATE_STEP     (DIAMETER*PI / RESOLUSION)                 
@@ -54,6 +54,16 @@
 //x, y, thetaを0にする
 void erase();
 
+//仮想
+void virtual_setup();
+
+void virtual_update();
+
+int virtual_coordinateX();
+
+int virtual_coordinateY();
+
+float virtual_coordinateTheta();
 /**********************************/
 #endif