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test: MSVCの警告を /Wall から /W4 に変更し、今まで出ていた警告を消した
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,115 +1,115 @@ | ||
| #ifndef SPIRIT_SPEED_CONTROLLER_H | ||
| #define SPIRIT_SPEED_CONTROLLER_H | ||
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| #include <stdint.h> | ||
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| #include "InterfaceInterruptIn.h" | ||
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| namespace spirit { | ||
|
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| class SpeedController { | ||
| public: | ||
| /** | ||
| * @brief コンストラクタ | ||
| * @param a_phase RotaryEncoder A phase pin | ||
| * @param b_phase RotaryEncoder B phase pin | ||
| */ | ||
| SpeedController(InterfaceInterruptIn& a_phase, InterfaceInterruptIn& b_phase); | ||
|
|
||
| /** | ||
| * @brief 目標rpsを与えると速度制御の計算結果を返す | ||
| * @param target_rps 速度制御の目標rps | ||
| * @param dt 制御周期(s) | ||
| */ | ||
| float calculation(float target_rps, float dt); | ||
|
|
||
| /** | ||
| * @brief 速度制御の計算結果にかける上限値と下限値を設定 | ||
| * @param high_limit 速度制御の計算結果の最大値 | ||
| * @param low_limit 速度制御の計算結果の最小値 | ||
| */ | ||
| void limit(float high_limit, float low_limit); | ||
|
|
||
| /** | ||
| * @brief PID制御のゲイン係数を設定 | ||
| * @param kp 比例ゲイン | ||
| * @param ki 積分ゲイン | ||
| * @param kd 微分ゲイン | ||
| * @retval false ゲイン変更なし | ||
| * @retval true ゲイン変更あり | ||
| */ | ||
| bool pid_gain(float kp, float ki, float kd); | ||
|
|
||
| /** | ||
| * @brief ロータリーエンコーダの計算値をリセット | ||
| */ | ||
| void reset(); | ||
|
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||
| /** | ||
| * @brief ロータリーエンコーダの角度を返す | ||
| */ | ||
| float angle(); | ||
|
|
||
| /** | ||
| * @brief rpsを返す | ||
| * @return rps | ||
| */ | ||
| float rps(); | ||
|
|
||
| private: | ||
| InterfaceInterruptIn& _a_phase; | ||
| InterfaceInterruptIn& _b_phase; | ||
|
|
||
| float _kp{0.0f}; | ||
| float _ki{0.0f}; | ||
| float _kd{0.0f}; | ||
|
|
||
| static constexpr int _ppr{200}; | ||
| static constexpr float _deg_unit{360.0f / _ppr / 4.0f}; | ||
|
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| int _angle_counter; | ||
|
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||
| bool first_loop; | ||
|
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||
| /// @note モータの最低回転速度によっては変更の余地あり(ppr=200で0.15[rps]以下が目安??) | ||
| static constexpr int _angle_buff_max{10}; | ||
| int _angle_buff_index; | ||
| int _angle_buff[_angle_buff_max]; | ||
|
|
||
| float _rps{0.00f}; | ||
|
|
||
| float _sum_error; | ||
| float _delta_error; | ||
| float _last_error; | ||
|
|
||
| float _high_limit{0.00f}; | ||
| float _low_limit{0.00f}; | ||
|
|
||
| /** | ||
| * @brief rpsを算出して返す | ||
| * @param dt rps | ||
| * @return 算出されたrps | ||
| */ | ||
| float rps_calculation(float dt); | ||
|
|
||
| /** | ||
| * @brief 元の数値にリミッターをかける | ||
| * @param val 元の数値 | ||
| * @return リミッターをかけた数値 | ||
| */ | ||
| float limiter(float val); | ||
|
|
||
| /** | ||
| * @brief ロータリーエンコーダのA相が変化した際の処理を行う | ||
| */ | ||
| void a_phase_interrupt(); | ||
|
|
||
| /** | ||
| * @brief ロータリーエンコーダのB相が変化した際の処理を行う | ||
| */ | ||
| void b_phase_interrupt(); | ||
| }; | ||
|
|
||
| } // namespace spirit | ||
|
|
||
| #endif // SPIRIT_SPEED_CONTROLLER_H | ||
| #ifndef SPIRIT_SPEED_CONTROLLER_H | ||
| #define SPIRIT_SPEED_CONTROLLER_H | ||
|
|
||
| #include <stdint.h> | ||
|
|
||
| #include "InterfaceInterruptIn.h" | ||
|
|
||
| namespace spirit { | ||
|
|
||
| class SpeedController { | ||
| public: | ||
| /** | ||
| * @brief コンストラクタ | ||
| * @param a_phase RotaryEncoder A phase pin | ||
| * @param b_phase RotaryEncoder B phase pin | ||
| */ | ||
| SpeedController(InterfaceInterruptIn& a_phase, InterfaceInterruptIn& b_phase); | ||
|
|
||
| /** | ||
| * @brief 目標rpsを与えると速度制御の計算結果を返す | ||
| * @param target_rps 速度制御の目標rps | ||
| * @param dt 制御周期(s) | ||
| */ | ||
| float calculation(float target_rps, float dt); | ||
|
|
||
| /** | ||
| * @brief 速度制御の計算結果にかける上限値と下限値を設定 | ||
| * @param high_limit 速度制御の計算結果の最大値 | ||
| * @param low_limit 速度制御の計算結果の最小値 | ||
| */ | ||
| void limit(float high_limit, float low_limit); | ||
|
|
||
| /** | ||
| * @brief PID制御のゲイン係数を設定 | ||
| * @param kp 比例ゲイン | ||
| * @param ki 積分ゲイン | ||
| * @param kd 微分ゲイン | ||
| * @retval false ゲイン変更なし | ||
| * @retval true ゲイン変更あり | ||
| */ | ||
| bool pid_gain(float kp, float ki, float kd); | ||
|
|
||
| /** | ||
| * @brief ロータリーエンコーダの計算値をリセット | ||
| */ | ||
| void reset(); | ||
|
|
||
| /** | ||
| * @brief ロータリーエンコーダの角度を返す | ||
| */ | ||
| float angle(); | ||
|
|
||
| /** | ||
| * @brief rpsを返す | ||
| * @return rps | ||
| */ | ||
| float rps(); | ||
|
|
||
| private: | ||
| InterfaceInterruptIn& _a_phase; | ||
| InterfaceInterruptIn& _b_phase; | ||
|
|
||
| float _kp{0.0f}; | ||
| float _ki{0.0f}; | ||
| float _kd{0.0f}; | ||
|
|
||
| static constexpr int _ppr{200}; | ||
| static constexpr float _deg_unit{360.0f / _ppr / 4.0f}; | ||
|
|
||
| int _angle_counter; | ||
|
|
||
| bool first_loop; | ||
|
|
||
| /// @note モータの最低回転速度によっては変更の余地あり(ppr=200で0.15[rps]以下が目安??) | ||
| static constexpr int _angle_buff_max{10}; | ||
| int _angle_buff_index; | ||
| int _angle_buff[_angle_buff_max]; | ||
|
|
||
| float _rps{0.00f}; | ||
|
|
||
| float _sum_error; | ||
| float _delta_error; | ||
| float _last_error; | ||
|
|
||
| float _high_limit{0.00f}; | ||
| float _low_limit{0.00f}; | ||
|
|
||
| /** | ||
| * @brief rpsを算出して返す | ||
| * @param dt rps | ||
| * @return 算出されたrps | ||
| */ | ||
| float rps_calculation(float dt); | ||
|
|
||
| /** | ||
| * @brief 元の数値にリミッターをかける | ||
| * @param val 元の数値 | ||
| * @return リミッターをかけた数値 | ||
| */ | ||
| float limiter(float val); | ||
|
|
||
| /** | ||
| * @brief ロータリーエンコーダのA相が変化した際の処理を行う | ||
| */ | ||
| void a_phase_interrupt(); | ||
|
|
||
| /** | ||
| * @brief ロータリーエンコーダのB相が変化した際の処理を行う | ||
| */ | ||
| void b_phase_interrupt(); | ||
| }; | ||
|
|
||
| } // namespace spirit | ||
|
|
||
| #endif // SPIRIT_SPEED_CONTROLLER_H |
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