勇紀 有岡 / move4wheel

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move4wheel.h@2:a07bc3e733ff, 2018-11-17 (annotated)

Committer:
yuki0701
Date:
Sat Nov 17 06:56:30 2018 +0000
Revision:
2:a07bc3e733ff
Parent:
0:ac911845484d 
a

Who changed what in which revision?

UserRevisionLine numberNew 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