Diff: MotorDrive.h

Revision:

0:c2b6f8b48076

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MotorDrive.h	Thu Feb 25 07:41:29 2021 +0000
@@ -0,0 +1,39 @@
+#ifndef MOTOR_DRIVE
+#define MOTOR_DRIVE
+
+// Mbed Library
+#include <cmath>
+#include <vector>
+#include "OmniWheel.h"
+
+#define M_PI 3.14159265358979323846f
+
+using namespace std;
+
+class MotorDrive {
+    private:
+        const static double max_rpm = 5000;
+        const static double rads_to_rpm = 30.0 / M_PI;
+        const static double robot_radius = 0.19;
+        const static double wheel_radius = 0.05;
+        const static int wheel_num = 3;
+        
+        double offset_angle;
+        double offset_x;
+        double offset_y;
+        double pwm_coeff;
+        double wheel_radius_inv;
+        
+        OmniWheel omniWheel;
+        
+        vector<vector<double> > jacobian_matrix;
+        
+    public:
+        // Initialize MotorDrive
+        MotorDrive();
+        virtual ~MotorDrive();
+        // Function
+        OmniWheel getOmniWheelData(double linear_x, double linear_y, double angular_z);
+};
+
+#endif
\ No newline at end of file