NHK2017Ateamかにろぼ
Dependencies: 2017NHKpin_config mbed FEP HMC6352 MotorDriverController PID QEI omni
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bot/motor_driver/motor_driver.h@6:590c9622ecf1, 2017-08-24 (annotated)
- Committer:
- UCHITAKE
- Date:
- Thu Aug 24 08:16:21 2017 +0000
- Revision:
- 6:590c9622ecf1
- Child:
- 8:3987aa3d016b
Just worked !!!!!!!!
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
UCHITAKE | 6:590c9622ecf1 | 1 | /** |
UCHITAKE | 6:590c9622ecf1 | 2 | * @file motor_driver.h |
UCHITAKE | 6:590c9622ecf1 | 3 | * @brief モータ駆動クラス |
UCHITAKE | 6:590c9622ecf1 | 4 | */ |
UCHITAKE | 6:590c9622ecf1 | 5 | #ifndef MOTOR_DRIVER_H |
UCHITAKE | 6:590c9622ecf1 | 6 | #define MOTOR_DRIVER_H |
UCHITAKE | 6:590c9622ecf1 | 7 | |
UCHITAKE | 6:590c9622ecf1 | 8 | #include "mbed.h" |
UCHITAKE | 6:590c9622ecf1 | 9 | #include "pin_config.h" |
UCHITAKE | 6:590c9622ecf1 | 10 | |
UCHITAKE | 6:590c9622ecf1 | 11 | #include "arm_unit.h" |
UCHITAKE | 6:590c9622ecf1 | 12 | #include "wheel_unit.h" |
UCHITAKE | 6:590c9622ecf1 | 13 | #include "MotorDriverController.h" |
UCHITAKE | 6:590c9622ecf1 | 14 | |
UCHITAKE | 6:590c9622ecf1 | 15 | #define WHEEL_MDC_ADDR 7 |
UCHITAKE | 6:590c9622ecf1 | 16 | #define ARM_MDC_ADDR 6 |
UCHITAKE | 6:590c9622ecf1 | 17 | #define SLIDER_NUMBER 0 |
UCHITAKE | 6:590c9622ecf1 | 18 | #define ARM_NUMBER 1 |
UCHITAKE | 6:590c9622ecf1 | 19 | |
UCHITAKE | 6:590c9622ecf1 | 20 | /** |
UCHITAKE | 6:590c9622ecf1 | 21 | * @brief モータ駆動クラス |
UCHITAKE | 6:590c9622ecf1 | 22 | */ |
UCHITAKE | 6:590c9622ecf1 | 23 | class MotorDriver : MDC { |
UCHITAKE | 6:590c9622ecf1 | 24 | public : |
UCHITAKE | 6:590c9622ecf1 | 25 | /** |
UCHITAKE | 6:590c9622ecf1 | 26 | * @brief コンストラクタ |
UCHITAKE | 6:590c9622ecf1 | 27 | */ |
UCHITAKE | 6:590c9622ecf1 | 28 | MotorDriver(); |
UCHITAKE | 6:590c9622ecf1 | 29 | |
UCHITAKE | 6:590c9622ecf1 | 30 | /** |
UCHITAKE | 6:590c9622ecf1 | 31 | * @brief スライダを動かす |
UCHITAKE | 6:590c9622ecf1 | 32 | */ |
UCHITAKE | 6:590c9622ecf1 | 33 | void moveSlider(float speed); |
UCHITAKE | 6:590c9622ecf1 | 34 | |
UCHITAKE | 6:590c9622ecf1 | 35 | /** |
UCHITAKE | 6:590c9622ecf1 | 36 | * @brief ひみつ道具部分を動かす |
UCHITAKE | 6:590c9622ecf1 | 37 | */ |
UCHITAKE | 6:590c9622ecf1 | 38 | void destroy(float speed); |
UCHITAKE | 6:590c9622ecf1 | 39 | |
UCHITAKE | 6:590c9622ecf1 | 40 | /** |
UCHITAKE | 6:590c9622ecf1 | 41 | * @brief あしまわりを動かす |
UCHITAKE | 6:590c9622ecf1 | 42 | */ |
UCHITAKE | 6:590c9622ecf1 | 43 | void goXY(float X, float Y, float moment); |
UCHITAKE | 6:590c9622ecf1 | 44 | void goCircular(float r, float rad, float moment); |
UCHITAKE | 6:590c9622ecf1 | 45 | |
UCHITAKE | 6:590c9622ecf1 | 46 | private : |
UCHITAKE | 6:590c9622ecf1 | 47 | Arm arm; |
UCHITAKE | 6:590c9622ecf1 | 48 | WheelUnit quadOmni; |
UCHITAKE | 6:590c9622ecf1 | 49 | double moveVector[2]; |
UCHITAKE | 6:590c9622ecf1 | 50 | double moveMoment; |
UCHITAKE | 6:590c9622ecf1 | 51 | }; |
UCHITAKE | 6:590c9622ecf1 | 52 | |
UCHITAKE | 6:590c9622ecf1 | 53 | #endif//MOTOR_DRIVER_H |