NagaokaRoboticsClub_mbedTeam / Mbed 2 deprecated NHK2017_octopus

NHK2017 octopus robot

Dependencies:   2017NHKpin_config mbed FEP ikarashiMDC PID jy901 omni HMC6352 omni_wheel

Fork of KANI2017v2 by NagaokaRoboticsClub_mbedTeam

Diff: bot/wheel_unit/wheel_unit.h

Revision:
23:37bb9afe9fdc
Child:
26:7258d5ad0bff
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/bot/wheel_unit/wheel_unit.h	Wed Sep 13 14:26:47 2017 +0900
@@ -0,0 +1,23 @@
+#ifndef WHEEL_UNIT_H
+#define WHEEL_UNIT_H
+
+#include "mbed.h"
+#include "pin_config.h"
+#include "omni.h"
+#include "ikarashiMDC.h"
+
+const int RS485_BAUD = 38400;
+
+class WheelUnit : Omni {
+public:
+	WheelUnit(DigitalOut* RS485Controller, Serial* RS485);
+	void moveXY(float X, float Y, float moment);
+	void moveCircular(float r, float radian, float moment);
+
+private:
+	//ikarashiMDC wheels[4];
+	ikarashiMDC wheels[4];
+protected:
+};
+
+#endif