NagaokaRoboticsClub_mbedTeam / omni_wheel

omniwheel lib

Dependents:   NHK2017_octopus NHK2017_octopus2 NHK2017_octopus2_drive 2018NHK_gakugaku_robo ... more

omni_wheel.h

Committer:
UCHITAKE
Date:
2017-09-14
Revision:
0:952a0ff1bf46
Child:
1:e9b590a5b27a

File content as of revision 0:952a0ff1bf46:

#ifndef OMNI_WHEEL_H
#define OMNI_WHEEL_H

#include "mbed.h"
#include "wheel.h"

class OmniWheel {
public:
    Wheel *wheel;
    OmniWheel();
    OmniWheel(int wheelNumber);
    void computeXY(double X, double Y, double gX, double gY, double moment);
    void computeXY(double X, double Y, double moment);
    void computeCircular(double r, double theta, double gX, double gY, double moment);
    void computeCircular(double r, double theta, double moment);
private:
    int wheelNumber;
protected:
};

#endif//OMNI_WHEEL_H