NHK2017 octopus robot
Dependencies: 2017NHKpin_config mbed FEP ikarashiMDC PID jy901 omni HMC6352 omni_wheel
Fork of KANI2017v2 by
bot/wheel_unit/wheel_unit.h@23:37bb9afe9fdc, 2017-09-13 (annotated)
- Committer:
- number_key
- Date:
- Wed Sep 13 14:26:47 2017 +0900
- Revision:
- 23:37bb9afe9fdc
- Child:
- 26:7258d5ad0bff
move
Who changed what in which revision?
User | Revision | Line number | New contents of line |
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23:37bb9afe9fdc | 1 | #ifndef WHEEL_UNIT_H |
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23:37bb9afe9fdc | 2 | #define WHEEL_UNIT_H |
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23:37bb9afe9fdc | 3 | |
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23:37bb9afe9fdc | 4 | #include "mbed.h" |
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23:37bb9afe9fdc | 5 | #include "pin_config.h" |
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23:37bb9afe9fdc | 6 | #include "omni.h" |
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23:37bb9afe9fdc | 7 | #include "ikarashiMDC.h" |
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23:37bb9afe9fdc | 8 | |
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23:37bb9afe9fdc | 9 | const int RS485_BAUD = 38400; |
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23:37bb9afe9fdc | 10 | |
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23:37bb9afe9fdc | 11 | class WheelUnit : Omni { |
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23:37bb9afe9fdc | 12 | public: |
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23:37bb9afe9fdc | 13 | WheelUnit(DigitalOut* RS485Controller, Serial* RS485); |
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23:37bb9afe9fdc | 14 | void moveXY(float X, float Y, float moment); |
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23:37bb9afe9fdc | 15 | void moveCircular(float r, float radian, float moment); |
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23:37bb9afe9fdc | 16 | |
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23:37bb9afe9fdc | 17 | private: |
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23:37bb9afe9fdc | 18 | //ikarashiMDC wheels[4]; |
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23:37bb9afe9fdc | 19 | ikarashiMDC wheels[4]; |
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23:37bb9afe9fdc | 20 | protected: |
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23:37bb9afe9fdc | 21 | }; |
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23:37bb9afe9fdc | 22 | |
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23:37bb9afe9fdc | 23 | #endif |