Diff: lib/measuring_wheel/measuring_wheel.h

Revision:

0:76663617eca3

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/lib/measuring_wheel/measuring_wheel.h	Fri Sep 13 02:15:30 2019 +0000
@@ -0,0 +1,47 @@
+#ifndef MEASURING_WHEEL_H
+#define MEASURING_WHEEL_H
+
+#include "mbed.h"
+#include "QEI.h"
+#include "R1370.h"
+#include "Dense.h"
+
+#define FIRST_HEDDER 0xEE
+#define SECOND_HEDDER 0xFF
+#define PPR 500.0
+#define PIII 3.14159265358979
+
+class MeasuringWheel
+{
+public :
+    MeasuringWheel(PinName channel1_1, PinName channel1_2, PinName channel2_1, PinName channel2_2, PinName channel3_1, PinName channel3_2,PinName R1370TX,PinName R1370RX);
+
+    double getOutX();
+    double getOutY();
+    double getWheel1(),getWheel2(),getWheel3();
+    double getjyroAngle();
+    double yaw;
+private :
+    double diameter[3];
+    double distance[3];
+    double radian[3];
+    Eigen::Matrix3d coefficient;
+    Eigen::Vector3d wheel;
+    Eigen::FullPivHouseholderQR<Eigen::Matrix3d> dec;
+    Eigen::Vector3d ans;
+    double miniX,miniY,X,Y,subX,subY,minusX,minusY;
+    int loopCounter;
+    void computeXY();
+    void threadloop();
+
+    QEI w1;
+    QEI w2;
+    QEI w3;
+    R1370 r1370;
+    double Cdif, yawdegree;
+    Thread thread;
+    uint16_t X_, Y_,ofsetX, ofsetY, yawdegree_;
+    void resetposition();
+};
+
+#endif