ryota yoshikawa / Mbed 2 deprecated somaomuni_Gyro

ジャイロ補正を追加したプログラム

Dependencies:   mbed YKNCT_Movement SBDBT BNO055 YKNCT_MD YKNCT_I2C

main.h@1:b9f698be841c, 2020-03-14 (annotated)

Committer:
yoshikawaryota
Date:
Sat Mar 14 05:29:14 2020 +0000
Revision:
1:b9f698be841c
Parent:
0:9e851dc42cde 
add Gyro;Ver.Yoshikawa

Who changed what in which revision?

UserRevisionLine numberNew contents of line
TakushimaYukimasa 0:9e851dc42cde 1
TakushimaYukimasa 0:9e851dc42cde 2 /**
TakushimaYukimasa 0:9e851dc42cde 3 ******************************************************************************
TakushimaYukimasa 0:9e851dc42cde 4 * @file main.h
TakushimaYukimasa 0:9e851dc42cde 5 * @author You
TakushimaYukimasa 0:9e851dc42cde 6 * @version V?.?.?
TakushimaYukimasa 0:9e851dc42cde 7 * @date Today
TakushimaYukimasa 0:9e851dc42cde 8 * @brief メインのヘッダファイル
TakushimaYukimasa 0:9e851dc42cde 9 ******************************************************************************
TakushimaYukimasa 0:9e851dc42cde 10 */
TakushimaYukimasa 0:9e851dc42cde 11 /* Includes ------------------------------------------------------------------*/
TakushimaYukimasa 0:9e851dc42cde 12 #include <mbed.h>
TakushimaYukimasa 0:9e851dc42cde 13 #include <BNO055.h>
TakushimaYukimasa 0:9e851dc42cde 14 #include <SBDBT.h>
TakushimaYukimasa 0:9e851dc42cde 15 #include <YKNCT_I2C.h>
TakushimaYukimasa 0:9e851dc42cde 16 #include <YKNCT_MD.h>
TakushimaYukimasa 0:9e851dc42cde 17 #include <movement.h>
TakushimaYukimasa 0:9e851dc42cde 18
TakushimaYukimasa 0:9e851dc42cde 19 /* 型定義 --------------------------------------------------------------------*/
TakushimaYukimasa 0:9e851dc42cde 20
TakushimaYukimasa 0:9e851dc42cde 21 /* 座標管理構造体 X,Y,thetaはいずれもdouble型 */
TakushimaYukimasa 0:9e851dc42cde 22 struct ROCATION
TakushimaYukimasa 0:9e851dc42cde 23 {
TakushimaYukimasa 0:9e851dc42cde 24 double X;
TakushimaYukimasa 0:9e851dc42cde 25 double Y;
TakushimaYukimasa 0:9e851dc42cde 26 double theta;
TakushimaYukimasa 0:9e851dc42cde 27 };
TakushimaYukimasa 0:9e851dc42cde 28
TakushimaYukimasa 0:9e851dc42cde 29 /* 定数定義 ------------------------------------------------------------------*/
TakushimaYukimasa 0:9e851dc42cde 30
TakushimaYukimasa 0:9e851dc42cde 31 /* π */
TakushimaYukimasa 0:9e851dc42cde 32 #define PI 3.1415926535
TakushimaYukimasa 0:9e851dc42cde 33
TakushimaYukimasa 0:9e851dc42cde 34 /* Encoderの最大数 */
TakushimaYukimasa 0:9e851dc42cde 35 #define EncoderMAX 2
TakushimaYukimasa 0:9e851dc42cde 36
TakushimaYukimasa 0:9e851dc42cde 37 /* マクロ定義 ----------------------------------------------------------------*/
TakushimaYukimasa 0:9e851dc42cde 38 /* 2つの値を比較して小さい方を返す */
TakushimaYukimasa 0:9e851dc42cde 39 #define M_MIN(__VALUE1__, __VALUE2__) ((__VALUE1__) < (__VALUE2__) ? (__VALUE1__) : (__VALUE2__))
TakushimaYukimasa 0:9e851dc42cde 40
TakushimaYukimasa 0:9e851dc42cde 41 /* 2つの値を比較して大きい方を返す */
TakushimaYukimasa 0:9e851dc42cde 42 #define M_MAX(__VALUE1__, __VALUE2__) ((__VALUE1__) > (__VALUE2__) ? (__VALUE1__) : (__VALUE2__))
TakushimaYukimasa 0:9e851dc42cde 43
TakushimaYukimasa 0:9e851dc42cde 44 /* 絶対値を返す */
TakushimaYukimasa 0:9e851dc42cde 45 #define ABS(__VALUE1__) ((__VALUE1__) < 0 ? -(__VALUE1__) : (__VALUE1__))
TakushimaYukimasa 0:9e851dc42cde 46
TakushimaYukimasa 0:9e851dc42cde 47 /* Enc角度から距離に変換 */
TakushimaYukimasa 0:9e851dc42cde 48 #define DEG_TO_DIS(__DEGREE__) (50.8 * PI * (__DEGREE__) / 360)
TakushimaYukimasa 0:9e851dc42cde 49
TakushimaYukimasa 0:9e851dc42cde 50 /* Enc角度から距離に変換 */
TakushimaYukimasa 0:9e851dc42cde 51 #define DEG_TO_HIGH(__DEGREE__) (50.0 * PI * (__DEGREE__) / 360)
TakushimaYukimasa 0:9e851dc42cde 52
TakushimaYukimasa 0:9e851dc42cde 53 /* Radian,Degree変換 */
TakushimaYukimasa 0:9e851dc42cde 54 /* 定義被ったためコメントアウト */
TakushimaYukimasa 0:9e851dc42cde 55 //#define RAD_TO_DEG(__RADIAN__) (180 * (__RADIAN__) / PI)
TakushimaYukimasa 0:9e851dc42cde 56 //#define DEG_TO_RAD(__DEGREE__) ((__DEGREE__)*PI / 180)
TakushimaYukimasa 0:9e851dc42cde 57
TakushimaYukimasa 0:9e851dc42cde 58 /* lim以上のデータを補整する */
TakushimaYukimasa 0:9e851dc42cde 59 #define Rest(__val__, __Limit__) ((__val__) >= (__Limit__) ? (__Limit__) : ((__val__) <= (-(__Limit__)) ? (-(__Limit__)) : (__val__)))
TakushimaYukimasa 0:9e851dc42cde 60
TakushimaYukimasa 0:9e851dc42cde 61 /* コントローラー SerectとStartを実装 */
TakushimaYukimasa 0:9e851dc42cde 62 #define Select (DS3.LEFTkey+DS3.RIGHTkey==2)
TakushimaYukimasa 0:9e851dc42cde 63 #define Start (DS3.UPkey+DS3.DOWNkey==2)
TakushimaYukimasa 0:9e851dc42cde 64
TakushimaYukimasa 0:9e851dc42cde 65 /* 関数プロトタイプ宣言 -------------------------------------------------------*/
TakushimaYukimasa 0:9e851dc42cde 66 /* 変数定義 ------------------------------------------------------------------*/
TakushimaYukimasa 0:9e851dc42cde 67 /* クラス定義 ----------------------------------------------------------------*/