NHK2017Ateamかにろぼ
Dependencies: 2017NHKpin_config mbed FEP HMC6352 MotorDriverController PID QEI omni
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Diff: bot/motor_driver/motor_driver.cpp
- Revision:
- 1:269914e0aa07
- Parent:
- 0:757e9800c103
- Child:
- 2:ea151e05033a
diff -r 757e9800c103 -r 269914e0aa07 bot/motor_driver/motor_driver.cpp --- a/bot/motor_driver/motor_driver.cpp Mon Aug 21 12:20:14 2017 +0000 +++ b/bot/motor_driver/motor_driver.cpp Tue Aug 22 05:07:57 2017 +0000 @@ -1,4 +1,24 @@ #include "motor_driver.h" -MotorDriver::MotorDriver() : Arm(), WheelUnit(), MDC(MDSDA, MDSCL) { +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)); + } } \ No newline at end of file