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

Committer:
UCHITAKE
Date:
2017-07-03
Revision:
0:979565e955a5
Child:
1:add7d2b18162
Child:
9:a30169882a15

File content as of revision 0:979565e955a5:

#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