NagaokaRoboticsClub_mbedTeam / omni_wheel

omniwheel lib

Dependents:   NHK2017_octopus NHK2017_octopus2 NHK2017_octopus2_drive 2018NHK_gakugaku_robo ... more

wheel.h

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

File content as of revision 0:952a0ff1bf46:

#ifndef WHEEL_H
#define WHEEL_H

#include "mbed.h"

class Wheel {
public:
    Wheel();
    Wheel(double radian);
    Wheel(double radian, double distance);
    Wheel(const Wheel &a);
    Wheel &operator=(const Wheel &a);
    Wheel &operator=(double value);
    operator double();
    operator float();
    void setRadian(double tRadian);
    void setDistance(double tDistance);
    void setOutput(double value);
    double calculateShift(double r, double theta);
    double calculateRotate(double X, double Y, double value);
    double getOutput();

private:
    double radian;
    double distance;
protected:
    double outputShift;
    double outputRotate;
    double output;
};

#endif