Kouki Suzuki / Mbed OS NHK2019_mae_v6

2019/09/13ver

Dependencies:   SerialMultiByte QEI omni_wheel PID R1370MeasuringWheel IRsensor ikarashiMDC_2byte_ver Eigen

lib/S-ShapeModel/position_controller.h@0:76663617eca3, 2019-09-13 (annotated)

Committer:
skouki
Date:
Fri Sep 13 02:15:30 2019 +0000
Revision:
0:76663617eca3
2019/09/13

Who changed what in which revision?

UserRevisionLine numberNew contents of line
skouki 0:76663617eca3 1 #ifndef POSITION_CONTROLLER_H
skouki 0:76663617eca3 2 #define POSITION_CONTROLLER_H
skouki 0:76663617eca3 3
skouki 0:76663617eca3 4 #include "mbed.h"
skouki 0:76663617eca3 5 #include "Geometry.h"
skouki 0:76663617eca3 6 //#define M_PI 3.141592653589793238462643383219502884
skouki 0:76663617eca3 7
skouki 0:76663617eca3 8 class PositionController {
skouki 0:76663617eca3 9 public :
skouki 0:76663617eca3 10 PositionController(double accDistance_, double decDistance_, double initialVelocity_, double terminalVelocity_, float maxVelocity_);
skouki 0:76663617eca3 11
skouki 0:76663617eca3 12 void compute(int positionX, int positionY);
skouki 0:76663617eca3 13 void targetXY(int targetX_, int targetY_);
skouki 0:76663617eca3 14 double getVelocityX();
skouki 0:76663617eca3 15 double getVelocityY();
skouki 0:76663617eca3 16 private :
skouki 0:76663617eca3 17
skouki 0:76663617eca3 18 double generateSineWave(double x, double initV, double termV, double start, double length);
skouki 0:76663617eca3 19
skouki 0:76663617eca3 20 double accDistance;
skouki 0:76663617eca3 21 double decDistance;
skouki 0:76663617eca3 22 double accTrue;
skouki 0:76663617eca3 23 double decTrue;
skouki 0:76663617eca3 24 double initialVelocity;
skouki 0:76663617eca3 25 double terminalVelocity;
skouki 0:76663617eca3 26 float maxVelocity;
skouki 0:76663617eca3 27 double target;
skouki 0:76663617eca3 28 int targetX;
skouki 0:76663617eca3 29 int targetY;
skouki 0:76663617eca3 30 double radians;
skouki 0:76663617eca3 31 double velocity[2];
skouki 0:76663617eca3 32
skouki 0:76663617eca3 33 bool enoughDistance;
skouki 0:76663617eca3 34
skouki 0:76663617eca3 35 double getVelocity(int position);
skouki 0:76663617eca3 36 };
skouki 0:76663617eca3 37 #endif
skouki 0:76663617eca3 38