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:
- 26:7258d5ad0bff
- Parent:
- 23:37bb9afe9fdc
diff -r d199d621ecca -r 7258d5ad0bff bot/wheel_unit/wheel_unit.h --- 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: };