NagaokaRoboticsClub_mbedTeam / omni

omni wheel library

Dependents:   quadOmni_yanagi NHK2017_octopus hayatoShooter

オムニ用のライブラリです。

omni.h@0:979565e955a5, 2017-07-03 (annotated)

Committer:
UCHITAKE
Date:
Mon Jul 03 14:23:36 2017 +0000
Revision:
0:979565e955a5
Child:
1:add7d2b18162
Child:
9:a30169882a15
first commit

Who changed what in which revision?

UserRevisionLine numberNew contents of line
UCHITAKE 0:979565e955a5 1 #ifndef OMNI
UCHITAKE 0:979565e955a5 2 #define OMNI
UCHITAKE 0:979565e955a5 3
UCHITAKE 0:979565e955a5 4 #include "mbed.h"
UCHITAKE 0:979565e955a5 5
UCHITAKE 0:979565e955a5 6 #define M_PI 3.141592653589793
UCHITAKE 0:979565e955a5 7
UCHITAKE 0:979565e955a5 8 class Omni {
UCHITAKE 0:979565e955a5 9 public:
UCHITAKE 0:979565e955a5 10 Omni(int wheels, double initDegree);
UCHITAKE 0:979565e955a5 11
UCHITAKE 0:979565e955a5 12 bool computeXY(double parallelVector[], double moment);
UCHITAKE 0:979565e955a5 13 bool computePolar(double parallelVector[], double moment);
UCHITAKE 0:979565e955a5 14 bool stop();
UCHITAKE 0:979565e955a5 15
UCHITAKE 0:979565e955a5 16 void setWheels(int wheel);
UCHITAKE 0:979565e955a5 17 void setInitDegree(double degree);
UCHITAKE 0:979565e955a5 18
UCHITAKE 0:979565e955a5 19 double getOutput(int wheel);
UCHITAKE 0:979565e955a5 20
UCHITAKE 0:979565e955a5 21 private:
UCHITAKE 0:979565e955a5 22 int wheels;
UCHITAKE 0:979565e955a5 23 double initDegree;
UCHITAKE 0:979565e955a5 24 double wheel[4];
UCHITAKE 0:979565e955a5 25 };
UCHITAKE 0:979565e955a5 26
UCHITAKE 0:979565e955a5 27 #endif