勇紀 有岡 / Mbed 2 deprecated NHK2020-main

ver2

Dependencies:   uw_28015 mbed move4wheel2 EC CruizCore_R6093U CruizCore_R1370P

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

Committer:
la00noix
Date:
Tue Mar 19 13:20:23 2019 +0000
Revision:
0:b87fd8dd4322
Child:
2:820dcd23c8e3
a

Who changed what in which revision?

UserRevisionLine numberNew contents of line
la00noix 0:b87fd8dd4322 1 #ifndef HARUROBO2019_PATHFOLLOWING
la00noix 0:b87fd8dd4322 2 #define HARUROBO2019_PATHFOLLOWING
la00noix 0:b87fd8dd4322 3
la00noix 0:b87fd8dd4322 4 extern double now_x,now_y,now_angle; //main.cppにこれらの値の読み込みを書くこと
la00noix 0:b87fd8dd4322 5 extern double now_timeQ,now_timeR;
la00noix 0:b87fd8dd4322 6 extern double usw_data1,usw_data2,usw_data3,usw_data4;
la00noix 0:b87fd8dd4322 7
la00noix 0:b87fd8dd4322 8 void XYRmotorout(double plot_x1, double plot_y1, double plot_x2, double plot_y2, double *ad_x_out, double *ad_y_out, double *ad_r_out,double speed1,double speed2);
la00noix 0:b87fd8dd4322 9 //出発地点、目標地点の座標から機体のx軸方向、y軸方向、旋回の出力を算出する関数
la00noix 0:b87fd8dd4322 10 /*
la00noix 0:b87fd8dd4322 11 *1.main分内でx_out,y_out,r_outをdouble型で定義
la00noix 0:b87fd8dd4322 12 *2.XYRmotorout関数使用時は、num番目のx、y座標、num+1番目のx,y座標に加え、
la00noix 0:b87fd8dd4322 13 x_out,y_out,r_outのアドレス（&x_out,&y_out,&r_out）を渡す→（XYRmotorout(座標×４つ,&x_out,&y_out,&r_out)）
la00noix 0:b87fd8dd4322 14 */
la00noix 0:b87fd8dd4322 15
la00noix 0:b87fd8dd4322 16 //次の関数のパラメーターを定義すること
la00noix 0:b87fd8dd4322 17
la00noix 0:b87fd8dd4322 18 //void set_p_out(double p);
la00noix 0:b87fd8dd4322 19 //ベクトルABに平行方向の出力値設定関数
la00noix 0:b87fd8dd4322 20
la00noix 0:b87fd8dd4322 21 void q_setPDparam(double q_p,double q_d);
la00noix 0:b87fd8dd4322 22 //ベクトルABに垂直な方向の誤差を埋めるPD制御のパラメータ設定関数
la00noix 0:b87fd8dd4322 23
la00noix 0:b87fd8dd4322 24 void r_setPDparam(double r_p,double r_d);
la00noix 0:b87fd8dd4322 25 //機体角度と目標角度の誤差を埋めるPD制御のパラメータ設定関数
la00noix 0:b87fd8dd4322 26
la00noix 0:b87fd8dd4322 27 void set_r_out(double r);
la00noix 0:b87fd8dd4322 28 //旋回時の最大出力値設定関数
la00noix 0:b87fd8dd4322 29
la00noix 0:b87fd8dd4322 30 void set_target_angle(double t);
la00noix 0:b87fd8dd4322 31 //機体目標角度設定関数
la00noix 0:b87fd8dd4322 32
la00noix 0:b87fd8dd4322 33 #endif