yotaro morizumi / Mbed 2 deprecated zoomy_customLibrary

my new gear...

Dependencies:   mbed

actuator/IMC_motorDrive.hpp@2:e7b09385d197, 2022-03-27 (annotated)

Committer:
yootee
Date:
Sun Mar 27 04:39:16 2022 +0000
Revision:
2:e7b09385d197
Parent:
IMC_motorDrive.hpp@0:1456b6f84c75
Child:
8:1ca5a2052b0c
arrc?

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 2:e7b09385d197 6 #ifdef constrain
yootee 0:1456b6f84c75 7 inline double constrain(double x,double minimum,double maximum){
yootee 0:1456b6f84c75 8 return (x < minimum ? minimum : x > maximum ? maximum : x);
yootee 0:1456b6f84c75 9 }
yootee 2:e7b09385d197 10 #endif
yootee 0:1456b6f84c75 11
yootee 0:1456b6f84c75 12 class IMC_motor
yootee 0:1456b6f84c75 13 {
yootee 0:1456b6f84c75 14 public:
yootee 0:1456b6f84c75 15 IMC_motor(Port encoder,int resolution,double wheel_ensyu,Port motor_,double K_,double Tau_,double dt_);
yootee 0:1456b6f84c75 16 void IMCdrive(double target);
yootee 0:1456b6f84c75 17 void IMCreset();
yootee 0:1456b6f84c75 18 void drive(int pwm);
yootee 0:1456b6f84c75 19 RotaryInc motor_enc;
yootee 0:1456b6f84c75 20 private:
yootee 0:1456b6f84c75 21 double imc_out(double target);
yootee 0:1456b6f84c75 22 double imc_controler(double y);
yootee 0:1456b6f84c75 23 double process_model(double x,double mv);
yootee 0:1456b6f84c75 24 double process_model_val;
yootee 0:1456b6f84c75 25 double out_pwm;
yootee 0:1456b6f84c75 26 double K;
yootee 0:1456b6f84c75 27 double Tau;
yootee 0:1456b6f84c75 28 double dt;
yootee 0:1456b6f84c75 29 Port motor;
yootee 0:1456b6f84c75 30 };