yotaro morizumi / Mbed 2 deprecated zoomy_customLibrary

my new gear...

Dependencies:   mbed

Diff: control_theory/SLE.hpp

Revision:
6:e7f2335456c8
Parent:
2:e7b09385d197
--- a/control_theory/SLE.hpp	Sun Mar 27 06:43:22 2022 +0000
+++ b/control_theory/SLE.hpp	Sat Apr 09 03:20:19 2022 +0000
@@ -1,5 +1,12 @@
 //--Self-localization Estimate--//
 /* 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).*/
+/*
+    encoder position
+      front
+        0
+    1       2
+        3
+*/
 #pragma once
 #include <mbed.h>
 #include <portSet.hpp>
@@ -13,7 +20,7 @@
 class SLE
 {
 public:
-    SLE(Port enc0,Port enc1,Port enc2,Port enc3,float resolution,float ensyu,float interval);
+    SLE(Port enc0,Port enc1,Port enc2,Port enc3,int resolution,float ensyu,float interval);
     void update(double theta);
     void reset();
     void setPos(float x_pos,float y_pos);