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:
26:7258d5ad0bff
Parent:
23:37bb9afe9fdc
--- a/bot/wheel_unit/wheel_unit.h	Sat Sep 30 17:59:10 2017 +0900
+++ b/bot/wheel_unit/wheel_unit.h	Wed Oct 25 03:25:06 2017 +0900
@@ -3,19 +3,21 @@
 
 #include "mbed.h"
 #include "pin_config.h"
-#include "omni.h"
+#include "omni_wheel.h"
 #include "ikarashiMDC.h"
 
 const int RS485_BAUD = 38400;
 
-class WheelUnit : Omni {
+class WheelUnit {
 public:
 	WheelUnit(DigitalOut* RS485Controller, Serial* RS485);
 	void moveXY(float X, float Y, float moment);
+	void moveXY(float X, float Y, float gX, float gY, float moment);
 	void moveCircular(float r, float radian, float moment);
+	void moveCircular(float r, float radian, float gX, float gY, float moment);
 
 private:
-	//ikarashiMDC wheels[4];
+	OmniWheel omni;
 	ikarashiMDC wheels[4];
 protected:
 };