勇紀 有岡 / Mbed 2 deprecated NHK2020-main

ver2

Dependencies:   uw_28015 mbed move4wheel2 EC CruizCore_R6093U CruizCore_R1370P

movement/movement.h@1:26fc1b2f1c42, 2019-11-16 (annotated)

Committer:
yuki0701
Date:
Sat Nov 16 06:26:57 2019 +0000
Revision:
1:26fc1b2f1c42
Parent:
0:b87fd8dd4322
Child:
2:820dcd23c8e3
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];
yuki0701 1:26fc1b2f1c42 5 extern char can_ashileddata2[8];
yuki0701 1:26fc1b2f1c42 6 //extern char can_ashileddata3[2];
yuki0701 1:26fc1b2f1c42 7 //extern char can_ashileddata4[2];
yuki0701 1:26fc1b2f1c42 8 //extern char can_ashileddata5[2];
yuki0701 1:26fc1b2f1c42 9
yuki0701 1:26fc1b2f1c42 10 void print_gyro();
la00noix 0:b87fd8dd4322 11
la00noix 0:b87fd8dd4322 12 extern int16_t m1,m2,m3,m4;
la00noix 0:b87fd8dd4322 13
la00noix 0:b87fd8dd4322 14 extern int flag;
la00noix 0:b87fd8dd4322 15
la00noix 0:b87fd8dd4322 16 void UserLoopSetting_sensor();
la00noix 0:b87fd8dd4322 17
yuki0701 1:26fc1b2f1c42 18 void UserLoopSetting_enc_right();
yuki0701 1:26fc1b2f1c42 19
yuki0701 1:26fc1b2f1c42 20 void UserLoopSetting_enc_left();
yuki0701 1:26fc1b2f1c42 21
la00noix 0:b87fd8dd4322 22 void calOmega();
la00noix 0:b87fd8dd4322 23
la00noix 0:b87fd8dd4322 24 void output(double FL,double BL,double BR,double FR);
la00noix 0:b87fd8dd4322 25
la00noix 0:b87fd8dd4322 26 void base(double FL,double BL,double BR,double FR,double Max);
la00noix 0:b87fd8dd4322 27
la00noix 0:b87fd8dd4322 28 void ashi_led();
la00noix 0:b87fd8dd4322 29
la00noix 0:b87fd8dd4322 30 void calc_gyro();
la00noix 0:b87fd8dd4322 31
la00noix 0:b87fd8dd4322 32 void calc_xy_enc();
la00noix 0:b87fd8dd4322 33
la00noix 0:b87fd8dd4322 34 void set_cond(int t, int px, double bx, int py, double by);
la00noix 0:b87fd8dd4322 35
la00noix 0:b87fd8dd4322 36 void calc_xy_usw(double tgt_angle);
la00noix 0:b87fd8dd4322 37
la00noix 0:b87fd8dd4322 38 void calc_xy(double tgt_angle, double u, double v);
la00noix 0:b87fd8dd4322 39
la00noix 0:b87fd8dd4322 40 void enc_correction(int x_select,int y_select);
la00noix 0:b87fd8dd4322 41
la00noix 0:b87fd8dd4322 42 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 43 double point_x1,double point_y1,
la00noix 0:b87fd8dd4322 44 double point_x2,double point_y2,
la00noix 0:b87fd8dd4322 45 int theta,
la00noix 0:b87fd8dd4322 46 double speed,
la00noix 0:b87fd8dd4322 47 double q_p,double q_d,
la00noix 0:b87fd8dd4322 48 double r_p,double r_d,
la00noix 0:b87fd8dd4322 49 double r_out_max,
la00noix 0:b87fd8dd4322 50 double target_angle);
la00noix 0:b87fd8dd4322 51
la00noix 0:b87fd8dd4322 52 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 53 double x2_point,double y2_point,
la00noix 0:b87fd8dd4322 54 double speed1,double speed2,
la00noix 0:b87fd8dd4322 55 double q_p,double q_d,
la00noix 0:b87fd8dd4322 56 double r_p,double r_d,
la00noix 0:b87fd8dd4322 57 double r_out_max,
la00noix 0:b87fd8dd4322 58 double target_angle);
la00noix 0:b87fd8dd4322 59
la00noix 0:b87fd8dd4322 60 void pos_correction(double tgt_x, double tgt_y, double tgt_angle, double u, double v);
la00noix 0:b87fd8dd4322 61
yuki0701 1:26fc1b2f1c42 62 void mt_stop();
yuki0701 1:26fc1b2f1c42 63
la00noix 0:b87fd8dd4322 64 #endif