まだ使えません
Dependencies: QEI OmniPosition
measuring_wheel.h@1:3f01bf4d7e56, 2018-07-04 (annotated)
- Committer:
- tanabe2000
- Date:
- Wed Jul 04 09:32:06 2018 +0000
- Revision:
- 1:3f01bf4d7e56
- Parent:
- 0:505dd5510add
- Child:
- 2:f34a22b28ac5
test
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
tanabe2000 | 0:505dd5510add | 1 | #ifndef MEASURING_WHEEL_H |
tanabe2000 | 0:505dd5510add | 2 | #define MEASURING_WHEEL_H |
tanabe2000 | 0:505dd5510add | 3 | |
tanabe2000 | 0:505dd5510add | 4 | #include "mbed.h" |
tanabe2000 | 0:505dd5510add | 5 | #include "QEI.h" |
tanabe2000 | 0:505dd5510add | 6 | #define PI 3.141592653589793 |
tanabe2000 | 0:505dd5510add | 7 | |
tanabe2000 | 0:505dd5510add | 8 | class MeasuringWheel |
tanabe2000 | 0:505dd5510add | 9 | { |
tanabe2000 | 0:505dd5510add | 10 | public : |
tanabe2000 | 0:505dd5510add | 11 | MeasuringWheel(PinName channel1_1, PinName channel1_2, PinName channel2_1, PinName channel2_2, PinName channel3_1, PinName channel3_2); |
tanabe2000 | 0:505dd5510add | 12 | // bool |
tanabe2000 | 0:505dd5510add | 13 | |
tanabe2000 | 0:505dd5510add | 14 | bool wheelDiameter(float diameter1, float diameter2, float diameter3); |
tanabe2000 | 0:505dd5510add | 15 | |
tanabe2000 | 0:505dd5510add | 16 | float getOutX(); |
tanabe2000 | 0:505dd5510add | 17 | float getOutY(); |
tanabe2000 | 1:3f01bf4d7e56 | 18 | void transmissionXY(); |
tanabe2000 | 1:3f01bf4d7e56 | 19 | |
tanabe2000 | 0:505dd5510add | 20 | |
tanabe2000 | 0:505dd5510add | 21 | private : |
tanabe2000 | 0:505dd5510add | 22 | float diameter[3]; |
tanabe2000 | 0:505dd5510add | 23 | float radian[3]; |
tanabe2000 | 0:505dd5510add | 24 | float wheel[3],r,X,Y; |
tanabe2000 | 0:505dd5510add | 25 | void computeXY(); |
tanabe2000 | 1:3f01bf4d7e56 | 26 | |
tanabe2000 | 0:505dd5510add | 27 | |
tanabe2000 | 0:505dd5510add | 28 | QEI w1; |
tanabe2000 | 0:505dd5510add | 29 | QEI w2; |
tanabe2000 | 0:505dd5510add | 30 | QEI w3; |
tanabe2000 | 0:505dd5510add | 31 | Ticker ticker; |
tanabe2000 | 1:3f01bf4d7e56 | 32 | Ticker ticker1; |
tanabe2000 | 0:505dd5510add | 33 | uint16_t X_, Y_,ofsetX, ofsetY; |
tanabe2000 | 0:505dd5510add | 34 | char upBitX, upBitY; |
tanabe2000 | 0:505dd5510add | 35 | char downBitX,downBitY; |
tanabe2000 | 0:505dd5510add | 36 | Serial mainMicon; |
tanabe2000 | 0:505dd5510add | 37 | char get; |
tanabe2000 | 0:505dd5510add | 38 | DigitalOut led; |
tanabe2000 | 1:3f01bf4d7e56 | 39 | // void resetpisithon(); |
tanabe2000 | 1:3f01bf4d7e56 | 40 | |
tanabe2000 | 0:505dd5510add | 41 | }; |
tanabe2000 | 1:3f01bf4d7e56 | 42 | |
tanabe2000 | 0:505dd5510add | 43 | #endif |