2022_gorobo_Ateam / 2022_Ateam_MOTORprogram

足回り用プログラム(修正版)

Dependencies:   SBDBT arrc_mbed BNO055

TARGETco.hpp

Committer:
kazumayamanaka
Date:
2022-01-28
Revision:
5:e189d55ef292
Parent:
1:ea880e226e5a

File content as of revision 5:e189d55ef292:

#ifndef TARGET_CO_H
#define TARGET_CO_H
#include "mbed.h"
#include "math.h"
#define  PI 3.1415926535897

class TARGETco{
    
    public:
        void pass_val(double XPOWER,double YPOWER,double THETA);
        void pass_target(double TARGET);
        double obt_target1();
        double obt_target2();
        double obt_target3();
        double obt_target4();
        
    private:
        void cal_angular();
        
        double theta;
        double Xpower,Ypower;
        double Xvelocity,Yvelocity;
        double target[4];
        
};

#endif