Include new libraries normal mode updated(offset reduced)
Dependencies: mbed
Fork of Robot_a_cables_v2_6_5 by
Diff: rac.h
- Revision:
- 10:fb3542f3c5e6
diff -r 0f63d4cb5613 -r fb3542f3c5e6 rac.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/rac.h Mon May 28 14:18:32 2018 +0000 @@ -0,0 +1,32 @@ +#ifndef RAC_H +#define RAC_H + +class RAC{ + + public: + + void readButtons(uint8_t SWX, uint8_t SWY, uint8_t BPO); + void setVelocity(double velXin, double velYin, double centerRef, bool t_mode); + void readPosition(double *cX, double *cY, bool *t_mode); + void readVelocity(double *rvx, double *rvy); + void send(int id, char octet_emis[], char RouD, char longueur ); + + private: + + uint8_t _SWX, _SWY, _BPO; + int _x, _y, _ctr_x, _ctr_y; + float _VX, _VY; + long int _VM_L, _VM_R; + char _command[8]; + double _dy, _dx;//coordinates values when origin is done + //these positions are in counters + int32_t _p1, _p2; //motors positions + int32_t _p_actual, _p_actual2, _p_pom, _p_pom2; //p_actual position read by can, p_pom position done when origin is made + int32_t _lx, _l1, _l2; + double _rvx, _rvy; + }; + + + + +#endif RAC_H \ No newline at end of file