nekodesu
states.h@0:8d012d469eb4, 2019-07-08 (annotated)
- Committer:
- THtakahiro702286
- Date:
- Mon Jul 08 08:45:10 2019 +0000
- Revision:
- 0:8d012d469eb4
- Child:
- 1:38dd7564c15f
enything to do
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
THtakahiro702286 | 0:8d012d469eb4 | 1 | #ifndef STATES_H |
THtakahiro702286 | 0:8d012d469eb4 | 2 | #define STATES_H |
THtakahiro702286 | 0:8d012d469eb4 | 3 | |
THtakahiro702286 | 0:8d012d469eb4 | 4 | #include "mbed.h" |
THtakahiro702286 | 0:8d012d469eb4 | 5 | #include "PID.h" |
THtakahiro702286 | 0:8d012d469eb4 | 6 | #include "pin_config.h" |
THtakahiro702286 | 0:8d012d469eb4 | 7 | #include "controller.h" |
THtakahiro702286 | 0:8d012d469eb4 | 8 | #include "R1370.h" |
THtakahiro702286 | 0:8d012d469eb4 | 9 | #include "wheelUnit.h" |
THtakahiro702286 | 0:8d012d469eb4 | 10 | |
THtakahiro702286 | 0:8d012d469eb4 | 11 | //#define PI 3.14159 |
THtakahiro702286 | 0:8d012d469eb4 | 12 | |
THtakahiro702286 | 0:8d012d469eb4 | 13 | /*角度制御*/ |
THtakahiro702286 | 0:8d012d469eb4 | 14 | //#define angleKP 5.5 //速さ |
THtakahiro702286 | 0:8d012d469eb4 | 15 | //#define angleKI 5.0 //揺れすぎたら大きく、動かな過ぎたら小さく |
THtakahiro702286 | 0:8d012d469eb4 | 16 | //#define angleKD 0.0000005 //ずらしたときに戻る力 がでかすぎたら小さく、小さすぎたら大きく |
THtakahiro702286 | 0:8d012d469eb4 | 17 | |
THtakahiro702286 | 0:8d012d469eb4 | 18 | /*角度情報*/ |
THtakahiro702286 | 0:8d012d469eb4 | 19 | #define front 0 |
THtakahiro702286 | 0:8d012d469eb4 | 20 | #define right 90 |
THtakahiro702286 | 0:8d012d469eb4 | 21 | #define back 180 |
THtakahiro702286 | 0:8d012d469eb4 | 22 | #define left -90 |
THtakahiro702286 | 0:8d012d469eb4 | 23 | |
THtakahiro702286 | 0:8d012d469eb4 | 24 | |
THtakahiro702286 | 0:8d012d469eb4 | 25 | class States |
THtakahiro702286 | 0:8d012d469eb4 | 26 | { |
THtakahiro702286 | 0:8d012d469eb4 | 27 | public: |
THtakahiro702286 | 0:8d012d469eb4 | 28 | States(); |
THtakahiro702286 | 0:8d012d469eb4 | 29 | void tellAngle(); |
THtakahiro702286 | 0:8d012d469eb4 | 30 | void tellPad(); |
THtakahiro702286 | 0:8d012d469eb4 | 31 | void move(); |
THtakahiro702286 | 0:8d012d469eb4 | 32 | private: |
THtakahiro702286 | 0:8d012d469eb4 | 33 | /*モーター系*/ |
THtakahiro702286 | 0:8d012d469eb4 | 34 | WheelUnit omni; |
THtakahiro702286 | 0:8d012d469eb4 | 35 | Serial serial; |
THtakahiro702286 | 0:8d012d469eb4 | 36 | |
THtakahiro702286 | 0:8d012d469eb4 | 37 | /*角度制御*/ |
THtakahiro702286 | 0:8d012d469eb4 | 38 | R1370 gyro; |
THtakahiro702286 | 0:8d012d469eb4 | 39 | PID anglePID; |
THtakahiro702286 | 0:8d012d469eb4 | 40 | float norm; |
THtakahiro702286 | 0:8d012d469eb4 | 41 | float nowAngle; |
THtakahiro702286 | 0:8d012d469eb4 | 42 | int idealAngle; |
THtakahiro702286 | 0:8d012d469eb4 | 43 | float deviation; |
THtakahiro702286 | 0:8d012d469eb4 | 44 | float turnPower; |
THtakahiro702286 | 0:8d012d469eb4 | 45 | int state; |
THtakahiro702286 | 0:8d012d469eb4 | 46 | |
THtakahiro702286 | 0:8d012d469eb4 | 47 | /*コントローラ系*/ |
THtakahiro702286 | 0:8d012d469eb4 | 48 | Controller pad; |
THtakahiro702286 | 0:8d012d469eb4 | 49 | float stickRad; |
THtakahiro702286 | 0:8d012d469eb4 | 50 | float stickNorm; |
THtakahiro702286 | 0:8d012d469eb4 | 51 | float X; |
THtakahiro702286 | 0:8d012d469eb4 | 52 | float Y; |
THtakahiro702286 | 0:8d012d469eb4 | 53 | int b[11],b2[11],b3[11]; |
THtakahiro702286 | 0:8d012d469eb4 | 54 | }; |
THtakahiro702286 | 0:8d012d469eb4 | 55 | #endif |