teamALI / Mbed 2 deprecated HB2018

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Dependencies:   mbed FreeRTOS

Diff: HbManager.h

Revision:
63:aee44afe6363
Parent:
59:6b4dcd964d0f
Child:
68:1d5471344acf
Child:
70:a7b1e3eec51b
--- a/HbManager.h	Fri Mar 08 11:43:00 2019 +0000
+++ b/HbManager.h	Mon Mar 11 02:25:41 2019 +0000
@@ -16,8 +16,9 @@
 private:
     INT16       en_srv_step[2];         //!< エンジンスロットルを変化させる際のステップ値
     INT16       en_srv_adj_step[2];     //!< エンジンを浮上中にドライバーが調整する際のステップ値
-    INT16       motorOfsVal[4] ;//!< 姿勢制御用のオフセット
+    INT16       motorOfsVal[4] ;        //!< 姿勢制御用のオフセット
     INT16       mot_brk;                //!< MotorブレーキのRPM値
+    INT16       mot_takeoff_offset;     //!< モーターのTAKE_OFFステート時に使用するオフセット値
     UINT16      accelVal[2] ;//
     float       ang_rate_brk;           //!< ブレーキボタンON時の目標角度[rad]変化率
     float       nowTrgtAng; //目標ヨー角
@@ -54,6 +55,7 @@
     void setMotVal(eMotPos pos, INT16 val);
     void setMotValOfs(eMotPos pos, INT16 val);
     void setMotValAtt(eMotPos pos, INT16 val);
+    void setMotTakeOffOffset();
     void setFpgaMot(eMotPos pos,eMotType type, INT16 val);
     //void setMotFPGA(UCHAR num, INT16 val);