naoki tanabe / measuring_wheel

まだ使えません

Dependencies:   QEI OmniPosition

Dependents:  

measuring_wheel.h@2:f34a22b28ac5, 2018-07-31 (annotated)

Committer:
tanabe2000
Date:
Tue Jul 31 08:30:51 2018 +0000
Revision:
2:f34a22b28ac5
Parent:
1:3f01bf4d7e56 
ver2.1

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 2:f34a22b28ac5 6 //#include "r1307.h"
tanabe2000 2:f34a22b28ac5 7 #include "OmniPosition.h"
tanabe2000 0:505dd5510add 8 #define PI 3.141592653589793
tanabe2000 0:505dd5510add 9
tanabe2000 0:505dd5510add 10 class MeasuringWheel
tanabe2000 0:505dd5510add 11 {
tanabe2000 0:505dd5510add 12 public :
tanabe2000 0:505dd5510add 13 MeasuringWheel(PinName channel1_1, PinName channel1_2, PinName channel2_1, PinName channel2_2, PinName channel3_1, PinName channel3_2);
tanabe2000 0:505dd5510add 14 // bool
tanabe2000 0:505dd5510add 15
tanabe2000 0:505dd5510add 16 bool wheelDiameter(float diameter1, float diameter2, float diameter3);
tanabe2000 0:505dd5510add 17
tanabe2000 0:505dd5510add 18 float getOutX();
tanabe2000 0:505dd5510add 19 float getOutY();
tanabe2000 1:3f01bf4d7e56 20 void transmissionXY();
tanabe2000 2:f34a22b28ac5 21 float getWheel1(),getWheel2(),getWheel3();
tanabe2000 2:f34a22b28ac5 22 float getjyroAngle();
tanabe2000 2:f34a22b28ac5 23 OmniPosition r1370;
tanabe2000 0:505dd5510add 24
tanabe2000 0:505dd5510add 25 private :
tanabe2000 0:505dd5510add 26 float diameter[3];
tanabe2000 0:505dd5510add 27 float radian[3];
tanabe2000 2:f34a22b28ac5 28 float wheel[3],r,X,Y,subX,subY;
tanabe2000 0:505dd5510add 29 void computeXY();
tanabe2000 2:f34a22b28ac5 30
tanabe2000 1:3f01bf4d7e56 31
tanabe2000 0:505dd5510add 32
tanabe2000 0:505dd5510add 33 QEI w1;
tanabe2000 0:505dd5510add 34 QEI w2;
tanabe2000 0:505dd5510add 35 QEI w3;
tanabe2000 2:f34a22b28ac5 36 // R1307 r1370;
tanabe2000 2:f34a22b28ac5 37 float Cdif, yaw;
tanabe2000 0:505dd5510add 38 Ticker ticker;
tanabe2000 0:505dd5510add 39 uint16_t X_, Y_,ofsetX, ofsetY;
tanabe2000 0:505dd5510add 40 char upBitX, upBitY;
tanabe2000 0:505dd5510add 41 char downBitX,downBitY;
tanabe2000 0:505dd5510add 42 Serial mainMicon;
tanabe2000 0:505dd5510add 43 char get;
tanabe2000 0:505dd5510add 44 DigitalOut led;
tanabe2000 2:f34a22b28ac5 45 void resetpisithon();
tanabe2000 2:f34a22b28ac5 46 // void rawAngle();
tanabe2000 2:f34a22b28ac5 47
tanabe2000 1:3f01bf4d7e56 48
tanabe2000 0:505dd5510add 49 };
tanabe2000 1:3f01bf4d7e56 50
tanabe2000 0:505dd5510add 51 #endif