yotaro morizumi / Mbed 2 deprecated zoomy_customLibrary

my new gear...

Dependencies:   mbed

SLE.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 //--Self-localization Estimate--//
yootee 0:1456b6f84c75 2 /* AMT102v*4つを用いてXY座標の自己位置推定(Self-localization Estimate)するライブラリ.4輪を前後左右４方向に均等に配置している場合のみ使える(要はベタな４輪オムニ自動機ならこれ使える).*/
yootee 0:1456b6f84c75 3 #pragma once
yootee 0:1456b6f84c75 4 #include <mbed.h>
yootee 0:1456b6f84c75 5 #include <portSet.hpp>
yootee 0:1456b6f84c75 6 #include <rotary_inc_sp.hpp>
yootee 0:1456b6f84c75 7
yootee 0:1456b6f84c75 8 #define NOW 0
yootee 0:1456b6f84c75 9 #define PREV 1
yootee 0:1456b6f84c75 10 #define X_DATA 0
yootee 0:1456b6f84c75 11 #define Y_DATA 1
yootee 0:1456b6f84c75 12
yootee 0:1456b6f84c75 13 class SLE
yootee 0:1456b6f84c75 14 {
yootee 0:1456b6f84c75 15 public:
yootee 0:1456b6f84c75 16 SLE(Port enc0,Port enc1,Port enc2,Port enc3,float resolution,float ensyu,float interval);
yootee 0:1456b6f84c75 17 void update(double theta);
yootee 0:1456b6f84c75 18 void reset();
yootee 0:1456b6f84c75 19 void setPos(float x_pos,float y_pos);
yootee 0:1456b6f84c75 20 float position[2];
yootee 0:1456b6f84c75 21 float velocity[2];
yootee 0:1456b6f84c75 22 RotaryInc odometer[4];
yootee 0:1456b6f84c75 23 private:
yootee 0:1456b6f84c75 24 float wheel_ensyu;
yootee 0:1456b6f84c75 25 float dt;
yootee 0:1456b6f84c75 26 float Vx[2],Vy[2];
yootee 0:1456b6f84c75 27 };