NagaokaRoboticsClub_mbedTeam
omni wheel library
Dependents: quadOmni_yanagi NHK2017_octopus hayatoShooter
オムニ用のライブラリです。
Diff: omni.h
- Revision:
- 0:979565e955a5
- Child:
- 1:add7d2b18162
- Child:
- 9:a30169882a15
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/omni.h Mon Jul 03 14:23:36 2017 +0000
@@ -0,0 +1,27 @@
+#ifndef OMNI
+#define OMNI
+
+#include "mbed.h"
+
+#define M_PI 3.141592653589793
+
+class Omni {
+public:
+ Omni(int wheels, double initDegree);
+
+ bool computeXY(double parallelVector[], double moment);
+ bool computePolar(double parallelVector[], double moment);
+ bool stop();
+
+ void setWheels(int wheel);
+ void setInitDegree(double degree);
+
+ double getOutput(int wheel);
+
+private:
+ int wheels;
+ double initDegree;
+ double wheel[4];
+};
+
+#endif