NagaokaRoboticsClub_mbedTeam / omni_wheel

omniwheel lib

Dependents:   NHK2017_octopus NHK2017_octopus2 NHK2017_octopus2_drive 2018NHK_gakugaku_robo ... more

omni_wheel.h@0:952a0ff1bf46, 2017-09-14 (annotated)

Committer:
UCHITAKE
Date:
Thu Sep 14 05:51:25 2017 +0000
Revision:
0:952a0ff1bf46
Child:
1:e9b590a5b27a
initial commit

Who changed what in which revision?

UserRevisionLine numberNew contents of line
UCHITAKE 0:952a0ff1bf46 1 #ifndef OMNI_WHEEL_H
UCHITAKE 0:952a0ff1bf46 2 #define OMNI_WHEEL_H
UCHITAKE 0:952a0ff1bf46 3
UCHITAKE 0:952a0ff1bf46 4 #include "mbed.h"
UCHITAKE 0:952a0ff1bf46 5 #include "wheel.h"
UCHITAKE 0:952a0ff1bf46 6
UCHITAKE 0:952a0ff1bf46 7 class OmniWheel {
UCHITAKE 0:952a0ff1bf46 8 public:
UCHITAKE 0:952a0ff1bf46 9 Wheel *wheel;
UCHITAKE 0:952a0ff1bf46 10 OmniWheel();
UCHITAKE 0:952a0ff1bf46 11 OmniWheel(int wheelNumber);
UCHITAKE 0:952a0ff1bf46 12 void computeXY(double X, double Y, double gX, double gY, double moment);
UCHITAKE 0:952a0ff1bf46 13 void computeXY(double X, double Y, double moment);
UCHITAKE 0:952a0ff1bf46 14 void computeCircular(double r, double theta, double gX, double gY, double moment);
UCHITAKE 0:952a0ff1bf46 15 void computeCircular(double r, double theta, double moment);
UCHITAKE 0:952a0ff1bf46 16 private:
UCHITAKE 0:952a0ff1bf46 17 int wheelNumber;
UCHITAKE 0:952a0ff1bf46 18 protected:
UCHITAKE 0:952a0ff1bf46 19 };
UCHITAKE 0:952a0ff1bf46 20
UCHITAKE 0:952a0ff1bf46 21 #endif//OMNI_WHEEL_H