NagaokaRoboticsClub_mbedTeam / omni_wheel

omniwheel lib

Dependents:   NHK2017_octopus NHK2017_octopus2 NHK2017_octopus2_drive 2018NHK_gakugaku_robo ... more

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 WHEEL_H
UCHITAKE 0:952a0ff1bf46 2 #define WHEEL_H
UCHITAKE 0:952a0ff1bf46 3
UCHITAKE 0:952a0ff1bf46 4 #include "mbed.h"
UCHITAKE 0:952a0ff1bf46 5
UCHITAKE 0:952a0ff1bf46 6 class Wheel {
UCHITAKE 0:952a0ff1bf46 7 public:
UCHITAKE 0:952a0ff1bf46 8 Wheel();
UCHITAKE 0:952a0ff1bf46 9 Wheel(double radian);
UCHITAKE 0:952a0ff1bf46 10 Wheel(double radian, double distance);
UCHITAKE 0:952a0ff1bf46 11 Wheel(const Wheel &a);
UCHITAKE 0:952a0ff1bf46 12 Wheel &operator=(const Wheel &a);
UCHITAKE 0:952a0ff1bf46 13 Wheel &operator=(double value);
UCHITAKE 0:952a0ff1bf46 14 operator double();
UCHITAKE 0:952a0ff1bf46 15 operator float();
UCHITAKE 0:952a0ff1bf46 16 void setRadian(double tRadian);
UCHITAKE 0:952a0ff1bf46 17 void setDistance(double tDistance);
UCHITAKE 0:952a0ff1bf46 18 void setOutput(double value);
UCHITAKE 0:952a0ff1bf46 19 double calculateShift(double r, double theta);
UCHITAKE 0:952a0ff1bf46 20 double calculateRotate(double X, double Y, double value);
UCHITAKE 0:952a0ff1bf46 21 double getOutput();
UCHITAKE 0:952a0ff1bf46 22
UCHITAKE 0:952a0ff1bf46 23 private:
UCHITAKE 0:952a0ff1bf46 24 double radian;
UCHITAKE 0:952a0ff1bf46 25 double distance;
UCHITAKE 0:952a0ff1bf46 26 protected:
UCHITAKE 0:952a0ff1bf46 27 double outputShift;
UCHITAKE 0:952a0ff1bf46 28 double outputRotate;
UCHITAKE 0:952a0ff1bf46 29 double output;
UCHITAKE 0:952a0ff1bf46 30 };
UCHITAKE 0:952a0ff1bf46 31
UCHITAKE 0:952a0ff1bf46 32 #endif