Robocon 2021 / Mbed 2 deprecated Robocon_2021_carbase

Carbase finished

Dependencies:   mbed ros_lib_melodic

OmniWheel.h@0:c2b6f8b48076, 2021-02-25 (annotated)

Committer:
bensonsinsin998
Date:
Thu Feb 25 07:41:29 2021 +0000
Revision:
0:c2b6f8b48076
hi

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bensonsinsin998 0:c2b6f8b48076 1 #ifndef OMNI_WHEEL
bensonsinsin998 0:c2b6f8b48076 2 #define OMNI_WHEEL
bensonsinsin998 0:c2b6f8b48076 3
bensonsinsin998 0:c2b6f8b48076 4 // Mbed Library
bensonsinsin998 0:c2b6f8b48076 5 #include <vector>
bensonsinsin998 0:c2b6f8b48076 6
bensonsinsin998 0:c2b6f8b48076 7 using namespace std;
bensonsinsin998 0:c2b6f8b48076 8
bensonsinsin998 0:c2b6f8b48076 9 class OmniWheel {
bensonsinsin998 0:c2b6f8b48076 10 private:
bensonsinsin998 0:c2b6f8b48076 11 int wheel_num;
bensonsinsin998 0:c2b6f8b48076 12
bensonsinsin998 0:c2b6f8b48076 13 vector<double> vel;
bensonsinsin998 0:c2b6f8b48076 14 vector<double> rpm;
bensonsinsin998 0:c2b6f8b48076 15 vector<double> pwm;
bensonsinsin998 0:c2b6f8b48076 16
bensonsinsin998 0:c2b6f8b48076 17 public:
bensonsinsin998 0:c2b6f8b48076 18 // Initialize Omniwheel
bensonsinsin998 0:c2b6f8b48076 19 OmniWheel();
bensonsinsin998 0:c2b6f8b48076 20 virtual ~OmniWheel();
bensonsinsin998 0:c2b6f8b48076 21 // Function
bensonsinsin998 0:c2b6f8b48076 22 void clear();
bensonsinsin998 0:c2b6f8b48076 23 // -> Getter
bensonsinsin998 0:c2b6f8b48076 24 int getWheelNum();
bensonsinsin998 0:c2b6f8b48076 25 vector<double> getVel();
bensonsinsin998 0:c2b6f8b48076 26 vector<double> getRpm();
bensonsinsin998 0:c2b6f8b48076 27 vector<double> getPwm();
bensonsinsin998 0:c2b6f8b48076 28 // -> Setter
bensonsinsin998 0:c2b6f8b48076 29 void setWheelNum(int _wheel_num);
bensonsinsin998 0:c2b6f8b48076 30 void setVel(double _vel);
bensonsinsin998 0:c2b6f8b48076 31 void setRpm(double _rpm);
bensonsinsin998 0:c2b6f8b48076 32 void setPwm(double _pwm);
bensonsinsin998 0:c2b6f8b48076 33 };
bensonsinsin998 0:c2b6f8b48076 34
bensonsinsin998 0:c2b6f8b48076 35 #endif