Team Virgo v3 / Orion_newPCB_test_LV

Implement new controller

Dependencies:   mbed-rtos mbed QEI BNO055 MPU6050_DMP_Nucleo-I2Cdev virgo3_imuHandler_Orion_PCB MAX17048 Servo

Fork of Orion_newPCB_test by Team Virgo v3

05_TrajectoryTracking/kinematics.h

Committer:
ahmed_lv
Date:
2018-03-20
Revision:
30:44676e1b38f8
Parent:
10:ea4b90be68dc

File content as of revision 30:44676e1b38f8:

#ifndef kinematics_H
#define kinematics_H

#include "mbed.h"
#include "generalFunctions.h"
#include "config.h"

class kinematics
{
public:

    kinematics();    
    void VW_RPM(float velocity, float omega, float* left_rpm, float* right_rpm);

private:
    float wheelDia, trackWidth;
    
    static float const min_rpm = 500;
    static float const max_rpm = 850;
};


#endif