NHK2017 octopus robot
Dependencies: 2017NHKpin_config mbed FEP ikarashiMDC PID jy901 omni HMC6352 omni_wheel
Fork of KANI2017v2 by
Diff: bot/wheel_unit/wheel_unit.h
- Revision:
- 23:37bb9afe9fdc
- Child:
- 26:7258d5ad0bff
diff -r 682cc376da6f -r 37bb9afe9fdc bot/wheel_unit/wheel_unit.h --- /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