まだ使えません
Dependencies: QEI OmniPosition
Diff: measuring_wheel.h
- Revision:
- 2:f34a22b28ac5
- Parent:
- 1:3f01bf4d7e56
diff -r 3f01bf4d7e56 -r f34a22b28ac5 measuring_wheel.h --- a/measuring_wheel.h Wed Jul 04 09:32:06 2018 +0000 +++ b/measuring_wheel.h Tue Jul 31 08:30:51 2018 +0000 @@ -3,6 +3,8 @@ #include "mbed.h" #include "QEI.h" +//#include "r1307.h" +#include "OmniPosition.h" #define PI 3.141592653589793 class MeasuringWheel @@ -16,27 +18,33 @@ float getOutX(); float getOutY(); void transmissionXY(); - + float getWheel1(),getWheel2(),getWheel3(); + float getjyroAngle(); + OmniPosition r1370; private : float diameter[3]; float radian[3]; - float wheel[3],r,X,Y; + float wheel[3],r,X,Y,subX,subY; void computeXY(); + QEI w1; QEI w2; QEI w3; +// R1307 r1370; + float Cdif, yaw; Ticker ticker; - Ticker ticker1; uint16_t X_, Y_,ofsetX, ofsetY; char upBitX, upBitY; char downBitX,downBitY; Serial mainMicon; char get; DigitalOut led; -// void resetpisithon(); + void resetpisithon(); +// void rawAngle(); + };