NHK2017Ateamかにろぼ
Dependencies: 2017NHKpin_config mbed FEP HMC6352 MotorDriverController PID QEI omni
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bot/motor_driver/motor_driver.cpp
- Committer:
- UCHITAKE
- Date:
- 2017-08-22
- Revision:
- 1:269914e0aa07
- Parent:
- 0:757e9800c103
- Child:
- 2:ea151e05033a
File content as of revision 1:269914e0aa07:
#include "motor_driver.h" MotorDriver::MotorDriver() : MDC(MDSDA, MDSCL), quadOmni() { MotorSTOP(); } void MotorDriver::moveSlider(float speed) { write(ARM_MDC_ADDR, SLIDER_NUMBER, speed); } void MotorDriver::destroy(float speed) { write(ARM_MDC_ADDR, ARM_NUMBER, speed); } void MotorDriver::goPolar(double parallelVector[], double moment) { quadOmni.computePolar(parallelVector, moment); for(int i = 0; i < 4; i++) { write(WHEEL_MDC_ADDR, i, quadOmni.getOutput(i)); } }