yotaro morizumi / Mbed 2 deprecated zoomy_customLibrary

my new gear...

Dependencies:   mbed

IMC_motorDrive.hpp@0:1456b6f84c75, 2022-02-25 (annotated)

Committer:
yootee
Date:
Fri Feb 25 05:20:11 2022 +0000
Revision:
0:1456b6f84c75
my_custom

Who changed what in which revision?

UserRevisionLine numberNew contents of line
yootee 0:1456b6f84c75 1 #pragma once
yootee 0:1456b6f84c75 2 #include<mbed.h>
yootee 0:1456b6f84c75 3 #include <portSet.hpp>
yootee 0:1456b6f84c75 4 #include <rotary_inc_sp.hpp>
yootee 0:1456b6f84c75 5
yootee 0:1456b6f84c75 6 inline double constrain(double x,double minimum,double maximum){
yootee 0:1456b6f84c75 7 return (x < minimum ? minimum : x > maximum ? maximum : x);
yootee 0:1456b6f84c75 8 }
yootee 0:1456b6f84c75 9
yootee 0:1456b6f84c75 10 class IMC_motor
yootee 0:1456b6f84c75 11 {
yootee 0:1456b6f84c75 12 public:
yootee 0:1456b6f84c75 13 IMC_motor(Port encoder,int resolution,double wheel_ensyu,Port motor_,double K_,double Tau_,double dt_);
yootee 0:1456b6f84c75 14 void IMCdrive(double target);
yootee 0:1456b6f84c75 15 void IMCreset();
yootee 0:1456b6f84c75 16 void drive(int pwm);
yootee 0:1456b6f84c75 17 RotaryInc motor_enc;
yootee 0:1456b6f84c75 18 private:
yootee 0:1456b6f84c75 19 double imc_out(double target);
yootee 0:1456b6f84c75 20 double imc_controler(double y);
yootee 0:1456b6f84c75 21 double process_model(double x,double mv);
yootee 0:1456b6f84c75 22 double process_model_val;
yootee 0:1456b6f84c75 23 double out_pwm;
yootee 0:1456b6f84c75 24 double K;
yootee 0:1456b6f84c75 25 double Tau;
yootee 0:1456b6f84c75 26 double dt;
yootee 0:1456b6f84c75 27 Port motor;
yootee 0:1456b6f84c75 28 };