RaC2018 / Mbed 2 deprecated Robot_a_cables_v3_5

Include new libraries normal mode updated(offset reduced)

Dependencies:   mbed

Fork of Robot_a_cables_v2_6_5 by RaC2018

rac.h@10:fb3542f3c5e6, 2018-05-28 (annotated)

Committer:
protongamer
Date:
Mon May 28 14:18:32 2018 +0000
Revision:
10:fb3542f3c5e6
Version 3.5;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
protongamer 10:fb3542f3c5e6 1 #ifndef RAC_H
protongamer 10:fb3542f3c5e6 2 #define RAC_H
protongamer 10:fb3542f3c5e6 3
protongamer 10:fb3542f3c5e6 4 class RAC{
protongamer 10:fb3542f3c5e6 5
protongamer 10:fb3542f3c5e6 6 public:
protongamer 10:fb3542f3c5e6 7
protongamer 10:fb3542f3c5e6 8 void readButtons(uint8_t SWX, uint8_t SWY, uint8_t BPO);
protongamer 10:fb3542f3c5e6 9 void setVelocity(double velXin, double velYin, double centerRef, bool t_mode);
protongamer 10:fb3542f3c5e6 10 void readPosition(double *cX, double *cY, bool *t_mode);
protongamer 10:fb3542f3c5e6 11 void readVelocity(double *rvx, double *rvy);
protongamer 10:fb3542f3c5e6 12 void send(int id, char octet_emis[], char RouD, char longueur );
protongamer 10:fb3542f3c5e6 13
protongamer 10:fb3542f3c5e6 14 private:
protongamer 10:fb3542f3c5e6 15
protongamer 10:fb3542f3c5e6 16 uint8_t _SWX, _SWY, _BPO;
protongamer 10:fb3542f3c5e6 17 int _x, _y, _ctr_x, _ctr_y;
protongamer 10:fb3542f3c5e6 18 float _VX, _VY;
protongamer 10:fb3542f3c5e6 19 long int _VM_L, _VM_R;
protongamer 10:fb3542f3c5e6 20 char _command[8];
protongamer 10:fb3542f3c5e6 21 double _dy, _dx;//coordinates values when origin is done
protongamer 10:fb3542f3c5e6 22 //these positions are in counters
protongamer 10:fb3542f3c5e6 23 int32_t _p1, _p2; //motors positions
protongamer 10:fb3542f3c5e6 24 int32_t _p_actual, _p_actual2, _p_pom, _p_pom2; //p_actual position read by can, p_pom position done when origin is made
protongamer 10:fb3542f3c5e6 25 int32_t _lx, _l1, _l2;
protongamer 10:fb3542f3c5e6 26 double _rvx, _rvy;
protongamer 10:fb3542f3c5e6 27 };
protongamer 10:fb3542f3c5e6 28
protongamer 10:fb3542f3c5e6 29
protongamer 10:fb3542f3c5e6 30
protongamer 10:fb3542f3c5e6 31
protongamer 10:fb3542f3c5e6 32 #endif RAC_H