Kouki Suzuki / Mbed OS NHK2019_mae_v6

2019/09/13ver

Dependencies:   SerialMultiByte QEI omni_wheel PID R1370MeasuringWheel IRsensor ikarashiMDC_2byte_ver Eigen

lib/measuring_wheel/measuring_wheel.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 MEASURING_WHEEL_H
skouki 0:76663617eca3 2 #define MEASURING_WHEEL_H
skouki 0:76663617eca3 3
skouki 0:76663617eca3 4 #include "mbed.h"
skouki 0:76663617eca3 5 #include "QEI.h"
skouki 0:76663617eca3 6 #include "R1370.h"
skouki 0:76663617eca3 7 #include "Dense.h"
skouki 0:76663617eca3 8
skouki 0:76663617eca3 9 #define FIRST_HEDDER 0xEE
skouki 0:76663617eca3 10 #define SECOND_HEDDER 0xFF
skouki 0:76663617eca3 11 #define PPR 500.0
skouki 0:76663617eca3 12 #define PIII 3.14159265358979
skouki 0:76663617eca3 13
skouki 0:76663617eca3 14 class MeasuringWheel
skouki 0:76663617eca3 15 {
skouki 0:76663617eca3 16 public :
skouki 0:76663617eca3 17 MeasuringWheel(PinName channel1_1, PinName channel1_2, PinName channel2_1, PinName channel2_2, PinName channel3_1, PinName channel3_2,PinName R1370TX,PinName R1370RX);
skouki 0:76663617eca3 18
skouki 0:76663617eca3 19 double getOutX();
skouki 0:76663617eca3 20 double getOutY();
skouki 0:76663617eca3 21 double getWheel1(),getWheel2(),getWheel3();
skouki 0:76663617eca3 22 double getjyroAngle();
skouki 0:76663617eca3 23 double yaw;
skouki 0:76663617eca3 24 private :
skouki 0:76663617eca3 25 double diameter[3];
skouki 0:76663617eca3 26 double distance[3];
skouki 0:76663617eca3 27 double radian[3];
skouki 0:76663617eca3 28 Eigen::Matrix3d coefficient;
skouki 0:76663617eca3 29 Eigen::Vector3d wheel;
skouki 0:76663617eca3 30 Eigen::FullPivHouseholderQR<Eigen::Matrix3d> dec;
skouki 0:76663617eca3 31 Eigen::Vector3d ans;
skouki 0:76663617eca3 32 double miniX,miniY,X,Y,subX,subY,minusX,minusY;
skouki 0:76663617eca3 33 int loopCounter;
skouki 0:76663617eca3 34 void computeXY();
skouki 0:76663617eca3 35 void threadloop();
skouki 0:76663617eca3 36
skouki 0:76663617eca3 37 QEI w1;
skouki 0:76663617eca3 38 QEI w2;
skouki 0:76663617eca3 39 QEI w3;
skouki 0:76663617eca3 40 R1370 r1370;
skouki 0:76663617eca3 41 double Cdif, yawdegree;
skouki 0:76663617eca3 42 Thread thread;
skouki 0:76663617eca3 43 uint16_t X_, Y_,ofsetX, ofsetY, yawdegree_;
skouki 0:76663617eca3 44 void resetposition();
skouki 0:76663617eca3 45 };
skouki 0:76663617eca3 46
skouki 0:76663617eca3 47 #endif