Tk A / MIYAZAKI

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Locate.h@1:2bded5a5f636, 2016-07-02 (annotated)

Committer:
sakanakuuun
Date:
Sat Jul 02 02:33:24 2016 +0000
Revision:
1:2bded5a5f636
Child:
3:633ea1e7c681
????;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sakanakuuun 1:2bded5a5f636 1 #ifndef Locate_H
sakanakuuun 1:2bded5a5f636 2 #define Locate_H
sakanakuuun 1:2bded5a5f636 3
sakanakuuun 1:2bded5a5f636 4
sakanakuuun 1:2bded5a5f636 5 #define OUTERRING_D 264 //外輪間距離
sakanakuuun 1:2bded5a5f636 6 #define INNERRING_D 224 //内輪間距離
sakanakuuun 1:2bded5a5f636 7 #define PI 3.14159
sakanakuuun 1:2bded5a5f636 8 #define RESOLUSION 100 //P/R(分解能)
sakanakuuun 1:2bded5a5f636 9 #define DIAMETER 50.0 //タイヤの直径 (mm)
sakanakuuun 1:2bded5a5f636 10 #define Locate_STEP (DIAMETER*PI / RESOLUSION) // エンコーダの一ステップあたりの距離(mm)
sakanakuuun 1:2bded5a5f636 11 #define TIRE_DISTANCE ((OUTERRING_D + INNERRING_D) / 2) //タイヤ間距離(mm)
sakanakuuun 1:2bded5a5f636 12 #define ROUND (DIAMETER / (RESOLUSION * TIRE_DISTANCE)) //１回転するためのステップ数の”逆数”
sakanakuuun 1:2bded5a5f636 13
sakanakuuun 1:2bded5a5f636 14 //エンコーダから、現在のパルス数を得られるぞ！
sakanakuuun 1:2bded5a5f636 15 //真ん中中心で考える！
sakanakuuun 1:2bded5a5f636 16
sakanakuuun 1:2bded5a5f636 17 class Locate {
sakanakuuun 1:2bded5a5f636 18 private:
sakanakuuun 1:2bded5a5f636 19 int v; //ステップ速度
sakanakuuun 1:2bded5a5f636 20 double theta; //機体角度
sakanakuuun 1:2bded5a5f636 21 public:
sakanakuuun 1:2bded5a5f636 22 Locate ();
sakanakuuun 1:2bded5a5f636 23
sakanakuuun 1:2bded5a5f636 24 double x, y; //機体角度、xy方向に進む距離(m換算なし)(mainに送る)
sakanakuuun 1:2bded5a5f636 25
sakanakuuun 1:2bded5a5f636 26 void update (short int, short int); //引数は左右のパルス数でエンコーダから受け取る
sakanakuuun 1:2bded5a5f636 27 };
sakanakuuun 1:2bded5a5f636 28
sakanakuuun 1:2bded5a5f636 29
sakanakuuun 1:2bded5a5f636 30 #endif