wheelCtrl.h File Reference
移動速度を実現するための車輪制御 More...
#include "motorCtrl.h"
#include "encCtrl.h"
#include "math_util.h"
Include dependency graph for wheelCtrl.h:
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Go to the source code of this file.
Classes | |
| struct | wheelInfo_t |
| 車輪の情報管理 More... | |
Defines | |
| #define | WHL_DIAMETER_RIGHT 84.5 |
| #define | WHL_DIAMETER_LEFT 84.5 |
| #define | WHL_GEAR_RATIO (3249.0/169.0 * 45.0/16.0) |
| #define | WHL_CNT_PER_MM_RIGHT ((WHL_GEAR_RATIO * ENC_PULSE) / (WHL_DIAMETER_RIGHT * M_PI)) |
| #define | WHL_CNT_PER_MM_LEFT ((WHL_GEAR_RATIO * ENC_PULSE) / (WHL_DIAMETER_LEFT * M_PI)) |
Enumerations | |
| enum | { WHL_RIGHT = 0, WHL_LEFT = 1, WHL_VEL2CNT_16SHIFT_RIGHT = (int)(((1 << 16) * WHL_CNT_PER_MM_RIGHT / 1000)), WHL_VEL2CNT_16SHIFT_LEFT = (int)(((1 << 16) * WHL_CNT_PER_MM_LEFT / 1000)), WHL_CNT2VEL_16SHIFT_RIGHT = (int)((1 << 16) * 1000 / WHL_CNT_PER_MM_RIGHT), WHL_CNT2VEL_16SHIFT_LEFT = (int)((1 << 16) * 1000 / WHL_CNT_PER_MM_LEFT), WHL_CNT_PER_M_RIGHT = (int)(1000.0 * WHL_CNT_PER_MM_RIGHT), WHL_CNT_PER_M_LEFT = (int)(1000.0 * WHL_CNT_PER_MM_LEFT) } |
Functions | |
| void | initWheelInfo (wheelInfo_t *whl, motorInfo_t *mtr, encInfo_t *enc, const unsigned char id) |
| int | change_wheelVel2Cnt (wheelInfo_t *whl, int mm_sec_vel) |
| int | change_wheelCnt2Vel (wheelInfo_t *whl, int cnt_msec_vel) |
| void | setWheelFree (wheelInfo_t *whl) |
| void | setWheelMoveVelocity (int mm_sec_vel, wheelInfo_t *whl) |
Variables | |
| BEGIN_C_DECLS | |
| END_C_DECLS | |
Detailed Description
移動速度を実現するための車輪制御$Id$
Definition in file wheelCtrl.h.
