serbo4soku

Dependencies:   mbed ros_lib_kinetic nhk19mr2_can_info splitData SerialHalfDuplex_HM

Committer:
shimizuta
Date:
Mon Feb 11 01:56:49 2019 +0000
Revision:
9:905f93247688
Child:
10:7a340c52e270
made program readable

Who changed what in which revision?

UserRevisionLine numberNew contents of line
shimizuta 9:905f93247688 1 #ifndef INCLUDED_MOVESERVOOFLEG_H
shimizuta 9:905f93247688 2 #define INCLUDED_MOVESERVOOFLEG_H
shimizuta 9:905f93247688 3 #include "KondoServo.h"
shimizuta 9:905f93247688 4
shimizuta 9:905f93247688 5 ///歩く方向を指示する用
shimizuta 9:905f93247688 6 class MoveServoOfLeg
shimizuta 9:905f93247688 7 {
shimizuta 9:905f93247688 8 float rad_[2]; //足についてるサーボの目標角度。
shimizuta 9:905f93247688 9 float between_servo_half_m_;
shimizuta 9:905f93247688 10 float leglength1_;
shimizuta 9:905f93247688 11 float leglength2_;
shimizuta 9:905f93247688 12 KondoServo servo_;
shimizuta 9:905f93247688 13
shimizuta 9:905f93247688 14 public:
shimizuta 9:905f93247688 15 MoveServoOfLeg(PinName pin_serial_tx, PinName pin_serial_rx,
shimizuta 9:905f93247688 16 float between_servo_half_m,
shimizuta 9:905f93247688 17 float leglength1, float leglength2);
shimizuta 9:905f93247688 18 void MoveServo(int servo_num);
shimizuta 9:905f93247688 19 void CalServoRad(float x_m, float y_m);
shimizuta 9:905f93247688 20 void SetRad(float rad, int servo_num);
shimizuta 9:905f93247688 21 float GetRad(int servo_num);
shimizuta 9:905f93247688 22 };
shimizuta 9:905f93247688 23
shimizuta 9:905f93247688 24 #endif