teamALI / Mbed 2 deprecated HB2018

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Dependencies:   mbed FreeRTOS

Diff: HbManager.h

Revision:
25:f3a6e7eec9c3
Parent:
24:c5945aaae777
Child:
26:732bc37fbefd
--- a/HbManager.h	Mon Dec 10 12:29:37 2018 +0000
+++ b/HbManager.h	Wed Dec 12 23:52:22 2018 +0000
@@ -15,6 +15,7 @@
 class HbManager{
 private:
     INT16       motorVal[4] ;//
+    INT16       motorValD[4] ;// オフセット込みで直接入れられた値
     UINT16      accelVal[2] ;//
     float       nowAngle    ;//現在ヨー角
     float       nowRate     ;//現在加速度
@@ -33,12 +34,17 @@
 public:
     HbManager();
     void getAttitude();
+    void calAtt();
     void controlAttitude();
     void controlAttitude(float cmdAngle);
     void setAttPara(typPidPara para);
     void controlMotor();
+    void setMotPara(UCHAR num, typMotPara para);
     //void initChkMotor();
     //bool chkMotor();
+    void getCurMotVal();
+    bool stopMotor();
+    void initMotVal();
     void controlEngine();
     void getUserCommand();