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Diff: control_theory/SLE.hpp
- Revision:
- 6:e7f2335456c8
- Parent:
- 2:e7b09385d197
diff -r a611aac03d85 -r e7f2335456c8 control_theory/SLE.hpp --- 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);