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

bot/wheel_unit/wheel_unit.h@26:7258d5ad0bff, 2017-10-25 (annotated)

Committer:
number_key
Date:
Wed Oct 25 03:25:06 2017 +0900
Revision:
26:7258d5ad0bff
Parent:
23:37bb9afe9fdc 
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number_key 23:37bb9afe9fdc 1 #ifndef WHEEL_UNIT_H
number_key 23:37bb9afe9fdc 2 #define WHEEL_UNIT_H
number_key 23:37bb9afe9fdc 3
number_key 23:37bb9afe9fdc 4 #include "mbed.h"
number_key 23:37bb9afe9fdc 5 #include "pin_config.h"
number_key 26:7258d5ad0bff 6 #include "omni_wheel.h"
number_key 23:37bb9afe9fdc 7 #include "ikarashiMDC.h"
number_key 23:37bb9afe9fdc 8
number_key 23:37bb9afe9fdc 9 const int RS485_BAUD = 38400;
number_key 23:37bb9afe9fdc 10
number_key 26:7258d5ad0bff 11 class WheelUnit {
number_key 23:37bb9afe9fdc 12 public:
number_key 23:37bb9afe9fdc 13 WheelUnit(DigitalOut* RS485Controller, Serial* RS485);
number_key 23:37bb9afe9fdc 14 void moveXY(float X, float Y, float moment);
number_key 26:7258d5ad0bff 15 void moveXY(float X, float Y, float gX, float gY, float moment);
number_key 23:37bb9afe9fdc 16 void moveCircular(float r, float radian, float moment);
number_key 26:7258d5ad0bff 17 void moveCircular(float r, float radian, float gX, float gY, float moment);
number_key 23:37bb9afe9fdc 18
number_key 23:37bb9afe9fdc 19 private:
number_key 26:7258d5ad0bff 20 OmniWheel omni;
number_key 23:37bb9afe9fdc 21 ikarashiMDC wheels[4];
number_key 23:37bb9afe9fdc 22 protected:
number_key 23:37bb9afe9fdc 23 };
number_key 23:37bb9afe9fdc 24
number_key 23:37bb9afe9fdc 25 #endif