#include <BasicWalker.h>
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| BasicWalker (Controller &controller_) |
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void | reset (void) |
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void | parkingLeft (void) |
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void | setPidWithoutTarget (double, double, double) |
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void | spin (bool, int32_t, int32_t turn=18) |
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void | goStraight (int32_t, int32_t) |
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void | goStraight_b (int32_t, int32_t, int16_t) |
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void | spinToCheckBlackLine (bool, int32_t) |
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void | goStraightToCheckBlackLine (int32_t, int32_t, int16_t) |
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void | backStraight (int32_t, int32_t) |
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BasicWalker.h の 8 行目に定義があります。
BasicWalker::BasicWalker |
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Controller & |
controller_ | ) |
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inlineexplicit |
BasicWalker.h の 10 行目に定義があります。
10 : controller(controller_)
void speakerSetVolume(uint8_t volume)
void BasicWalker::backStraight |
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int32_t |
target_forward, |
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int32_t |
distance |
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) |
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BasicWalker.cpp の 85 行目に定義があります。
87 speedControl.
setPid(p_value, i_value, d_value, -target_forward);
90 walker.
run(forward, 0);
void tslpTsk(int16_t time)
std::int32_t calculateSpeedForPid(std::int32_t curAngleL, std::int32_t curAngleR)
void setPid(double p_gain_, double i_gain_, double d_gain_, double target_)
void run(std::int8_t pwm, std::int8_t turn)
std::int32_t get_count_R()
std::int32_t get_count_L()
void BasicWalker::goStraight |
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int32_t |
target_forward, |
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int32_t |
distance |
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) |
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BasicWalker.cpp の 68 行目に定義があります。
70 speedControl.
setPid(p_value, i_value, d_value, target_forward);
73 walker.
run(forward, 0);
void tslpTsk(int16_t time)
std::int32_t calculateSpeedForPid(std::int32_t curAngleL, std::int32_t curAngleR)
void setPid(double p_gain_, double i_gain_, double d_gain_, double target_)
void run(std::int8_t pwm, std::int8_t turn)
std::int32_t get_count_R()
std::int32_t get_count_L()
void BasicWalker::goStraight_b |
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int32_t |
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int32_t |
, |
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int16_t |
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) |
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void BasicWalker::goStraightToCheckBlackLine |
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int32_t |
target_forward, |
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int32_t |
distance, |
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int16_t |
target_brightness |
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) |
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BasicWalker.cpp の 48 行目に定義があります。
51 speedControl.
setPid(p_value, i_value, d_value, target_forward);
54 walker.
run(forward, 0);
59 if(now_brightness < 13) {
void speakerPlayTone(uint16_t frequency, int32_t duration)
void tslpTsk(int16_t time)
std::int32_t calculateSpeedForPid(std::int32_t curAngleL, std::int32_t curAngleR)
void setPid(double p_gain_, double i_gain_, double d_gain_, double target_)
void run(std::int8_t pwm, std::int8_t turn)
std::int32_t get_count_R()
std::int32_t get_count_L()
void BasicWalker::parkingLeft |
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void |
| ) |
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void BasicWalker::reset |
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void |
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void BasicWalker::setPidWithoutTarget |
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double |
valueP, |
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double |
valueI, |
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double |
valueD |
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) |
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void BasicWalker::spin |
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bool |
rotationalDirection, |
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int32_t |
angle, |
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int32_t |
turn = 18 |
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) |
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BasicWalker.cpp の 15 行目に定義があります。
17 int8_t reverseValue = rotationalDirection ==
SPIN_RIGHT ? -1 : 1;
22 walker.
run(0, (turn * reverseValue));
void tslpTsk(int16_t time)
void run(std::int8_t pwm, std::int8_t turn)
std::int32_t get_count_R()
void BasicWalker::spinToCheckBlackLine |
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bool |
rotationalDirection, |
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int32_t |
angle |
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) |
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BasicWalker.cpp の 28 行目に定義があります。
30 int8_t reverseValue = rotationalDirection ==
SPIN_RIGHT ? -1 : 1;
35 walker.
run(0, (18 * reverseValue));
38 if(now_brightness < 120) {
void speakerPlayTone(uint16_t frequency, int32_t duration)
void tslpTsk(int16_t time)
void run(std::int8_t pwm, std::int8_t turn)
std::int32_t get_count_R()
const bool BasicWalker::SPIN_LEFT = false |
const bool BasicWalker::SPIN_RIGHT = true |
このクラス詳解は次のファイルから抽出されました: