naoki tanabe / measuring_wheel

まだ使えません

Dependencies:   QEI OmniPosition

Dependents:  

measuring_wheel.h@0:505dd5510add, 2018-07-02 (annotated)

Committer:
tanabe2000
Date:
Mon Jul 02 08:38:07 2018 +0000
Revision:
0:505dd5510add
Child:
1:3f01bf4d7e56
measuring_v1

Who changed what in which revision?

UserRevisionLine numberNew 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 0:505dd5510add 18
tanabe2000 0:505dd5510add 19
tanabe2000 0:505dd5510add 20 private :
tanabe2000 0:505dd5510add 21 float diameter[3];
tanabe2000 0:505dd5510add 22 float radian[3];
tanabe2000 0:505dd5510add 23 float wheel[3],r,X,Y;
tanabe2000 0:505dd5510add 24 void computeXY();
tanabe2000 0:505dd5510add 25
tanabe2000 0:505dd5510add 26
tanabe2000 0:505dd5510add 27 QEI w1;
tanabe2000 0:505dd5510add 28 QEI w2;
tanabe2000 0:505dd5510add 29 QEI w3;
tanabe2000 0:505dd5510add 30 Ticker ticker;
tanabe2000 0:505dd5510add 31
tanabe2000 0:505dd5510add 32 };
tanabe2000 0:505dd5510add 33
tanabe2000 0:505dd5510add 34
tanabe2000 0:505dd5510add 35 class TransmissionXY
tanabe2000 0:505dd5510add 36 {
tanabe2000 0:505dd5510add 37
tanabe2000 0:505dd5510add 38 public:
tanabe2000 0:505dd5510add 39 TransmissionXY(PinName serialTX, PinName serialRX);
tanabe2000 0:505dd5510add 40 bool sendMeasuring( MeasuringWheel &request);
tanabe2000 0:505dd5510add 41 void resetpisithon();
tanabe2000 0:505dd5510add 42 private:
tanabe2000 0:505dd5510add 43
tanabe2000 0:505dd5510add 44 uint16_t X_, Y_,ofsetX, ofsetY;
tanabe2000 0:505dd5510add 45 char upBitX, upBitY;
tanabe2000 0:505dd5510add 46 char downBitX,downBitY;
tanabe2000 0:505dd5510add 47 Serial mainMicon;
tanabe2000 0:505dd5510add 48 char get;
tanabe2000 0:505dd5510add 49 DigitalOut led;
tanabe2000 0:505dd5510add 50
tanabe2000 0:505dd5510add 51 };
tanabe2000 0:505dd5510add 52 #endif