勇紀 有岡 / Mbed 2 deprecated NHK2020-main

ver2

Dependencies:   uw_28015 mbed move4wheel2 EC CruizCore_R6093U CruizCore_R1370P

movement/movement.h@0:b87fd8dd4322, 2019-03-19 (annotated)

Committer:
la00noix
Date:
Tue Mar 19 13:20:23 2019 +0000
Revision:
0:b87fd8dd4322
Child:
1:26fc1b2f1c42
a

Who changed what in which revision?

UserRevisionLine numberNew contents of line
la00noix 0:b87fd8dd4322 1 #ifndef HARUROBO2019_MOVEMENT
la00noix 0:b87fd8dd4322 2 #define HARUROBO2019_MOVEMENT
la00noix 0:b87fd8dd4322 3
la00noix 0:b87fd8dd4322 4 extern char can_ashileddata[2];
la00noix 0:b87fd8dd4322 5
la00noix 0:b87fd8dd4322 6 extern int16_t m1,m2,m3,m4;
la00noix 0:b87fd8dd4322 7
la00noix 0:b87fd8dd4322 8 extern int flag;
la00noix 0:b87fd8dd4322 9
la00noix 0:b87fd8dd4322 10 void UserLoopSetting_sensor();
la00noix 0:b87fd8dd4322 11
la00noix 0:b87fd8dd4322 12 void calOmega();
la00noix 0:b87fd8dd4322 13
la00noix 0:b87fd8dd4322 14 void output(double FL,double BL,double BR,double FR);
la00noix 0:b87fd8dd4322 15
la00noix 0:b87fd8dd4322 16 void base(double FL,double BL,double BR,double FR,double Max);
la00noix 0:b87fd8dd4322 17
la00noix 0:b87fd8dd4322 18 void ashi_led();
la00noix 0:b87fd8dd4322 19
la00noix 0:b87fd8dd4322 20 void calc_gyro();
la00noix 0:b87fd8dd4322 21
la00noix 0:b87fd8dd4322 22 void calc_xy_enc();
la00noix 0:b87fd8dd4322 23
la00noix 0:b87fd8dd4322 24 void set_cond(int t, int px, double bx, int py, double by);
la00noix 0:b87fd8dd4322 25
la00noix 0:b87fd8dd4322 26 void calc_xy_usw(double tgt_angle);
la00noix 0:b87fd8dd4322 27
la00noix 0:b87fd8dd4322 28 void calc_xy(double tgt_angle, double u, double v);
la00noix 0:b87fd8dd4322 29
la00noix 0:b87fd8dd4322 30 void enc_correction(int x_select,int y_select);
la00noix 0:b87fd8dd4322 31
la00noix 0:b87fd8dd4322 32 void purecurve(int type,double u, double v, //正面を変えずに円弧or楕円を描いて曲がる
la00noix 0:b87fd8dd4322 33 double point_x1,double point_y1,
la00noix 0:b87fd8dd4322 34 double point_x2,double point_y2,
la00noix 0:b87fd8dd4322 35 int theta,
la00noix 0:b87fd8dd4322 36 double speed,
la00noix 0:b87fd8dd4322 37 double q_p,double q_d,
la00noix 0:b87fd8dd4322 38 double r_p,double r_d,
la00noix 0:b87fd8dd4322 39 double r_out_max,
la00noix 0:b87fd8dd4322 40 double target_angle);
la00noix 0:b87fd8dd4322 41
la00noix 0:b87fd8dd4322 42 void gogo_straight(double u, double v, double x1_point,double y1_point, //直線運動プログラム
la00noix 0:b87fd8dd4322 43 double x2_point,double y2_point,
la00noix 0:b87fd8dd4322 44 double speed1,double speed2,
la00noix 0:b87fd8dd4322 45 double q_p,double q_d,
la00noix 0:b87fd8dd4322 46 double r_p,double r_d,
la00noix 0:b87fd8dd4322 47 double r_out_max,
la00noix 0:b87fd8dd4322 48 double target_angle);
la00noix 0:b87fd8dd4322 49
la00noix 0:b87fd8dd4322 50 void pos_correction(double tgt_x, double tgt_y, double tgt_angle, double u, double v);
la00noix 0:b87fd8dd4322 51
la00noix 0:b87fd8dd4322 52 #endif