yotaro morizumi / IMC_motordrive

wakaran

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IMC_motorDrive.hpp@1:5b408b893c20, 2022-02-24 (annotated)

Committer:
yootee
Date:
Thu Feb 24 07:23:14 2022 +0000
Revision:
1:5b408b893c20
Parent:
0:17acb05d7f3e 
fuck

Who changed what in which revision?

UserRevisionLine numberNew contents of line
yootee 0:17acb05d7f3e 1 #pragma once
yootee 0:17acb05d7f3e 2 #include<mbed.h>
yootee 0:17acb05d7f3e 3 #include <portSet.hpp>
yootee 0:17acb05d7f3e 4 #include <rotary_inc_sp.hpp>
yootee 0:17acb05d7f3e 5
yootee 0:17acb05d7f3e 6 inline double constrain(double x,double minimum,double maximum){
yootee 0:17acb05d7f3e 7 return (x < minimum ? minimum : x > maximum ? maximum : x);
yootee 0:17acb05d7f3e 8 }
yootee 0:17acb05d7f3e 9
yootee 0:17acb05d7f3e 10 class IMC_motor
yootee 0:17acb05d7f3e 11 {
yootee 0:17acb05d7f3e 12 public:
yootee 0:17acb05d7f3e 13 IMC_motor(Port encoder,int resolution,double wheel_ensyu,Port motor_,double K_,double Tau_,double dt_);
yootee 0:17acb05d7f3e 14 void IMCdrive(double target);
yootee 0:17acb05d7f3e 15 void drive(int pwm);
yootee 0:17acb05d7f3e 16 RotaryInc motor_enc;
yootee 0:17acb05d7f3e 17 //private:
yootee 0:17acb05d7f3e 18 double imc_out(double target);
yootee 0:17acb05d7f3e 19 double imc_controler(double y);
yootee 0:17acb05d7f3e 20 double process_model(double x,double mv);
yootee 0:17acb05d7f3e 21 double process_model_val;
yootee 0:17acb05d7f3e 22 double out_pwm;
yootee 0:17acb05d7f3e 23 double K;
yootee 0:17acb05d7f3e 24 double Tau;
yootee 0:17acb05d7f3e 25 double dt;
yootee 0:17acb05d7f3e 26 Port motor;
yootee 0:17acb05d7f3e 27 };