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move4wheel.h@0:ac911845484d, 2018-10-27 (annotated)
- Committer:
- la00noix
- Date:
- Sat Oct 27 11:24:45 2018 +0000
- Revision:
- 0:ac911845484d
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Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
la00noix | 0:ac911845484d | 1 | /** @file |
la00noix | 0:ac911845484d | 2 | *四輪出力計算 |
la00noix | 0:ac911845484d | 3 | *motorのつき方、番号は\n |
la00noix | 0:ac911845484d | 4 | *[1]↙︎....↖︎[0]\n |
la00noix | 0:ac911845484d | 5 | *\n |
la00noix | 0:ac911845484d | 6 | *[2]↘︎...↗ [3]\n |
la00noix | 0:ac911845484d | 7 | *定数を変えれば容易に変更可能 |
la00noix | 0:ac911845484d | 8 | */ |
la00noix | 0:ac911845484d | 9 | #ifndef SP18_ARM_MOVE4WHEEL_MOVE4WHEEL_H |
la00noix | 0:ac911845484d | 10 | #define SP18_ARM_MOVE4WHEEL_MOVE4WHEEL_H |
la00noix | 0:ac911845484d | 11 | /** 数学的なx,y,回転で出力を計算. GetMotorOut(int motor_num) を呼び出せば値が得られる |
la00noix | 0:ac911845484d | 12 | * @param x_out 目標速度のx成分 |
la00noix | 0:ac911845484d | 13 | * @param y_out 目標速度のx成分 |
la00noix | 0:ac911845484d | 14 | * @param r_out 目標速度の回転成分 |
la00noix | 0:ac911845484d | 15 | */ |
la00noix | 0:ac911845484d | 16 | void CalMotorOut(double x_out, double y_out, double r_out); |
la00noix | 0:ac911845484d | 17 | /**@param motor_num 車輪の番号(0,1,2,3)右上から反時計回りに定義 |
la00noix | 0:ac911845484d | 18 | * @return motorOut[motor_num] |
la00noix | 0:ac911845484d | 19 | */ |
la00noix | 0:ac911845484d | 20 | double GetMotorOut(int motor_num); |
la00noix | 0:ac911845484d | 21 | #endif |