Diff: omuni/omuni.hpp

Revision:

0:4346c5764e83

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/omuni/omuni.hpp	Mon Sep 25 08:16:54 2017 +0000
@@ -0,0 +1,36 @@
+#ifndef _omuni_
+#define _omuni_
+
+#include "speed_control.hpp"
+
+#define THETA_ADDJUST   0.69f
+
+class Omuni
+{
+private:
+    I2C *i2c;
+    speed_control *o[3];
+    Timer time, t;
+    float tvx, tvy, tomega; 
+    float vx, vy, omega, theta;
+    float R, d;
+    int addr[3];
+    float v[3];
+    bool f;
+public:
+    Omuni(I2C *i, TIM_TypeDef *timer_type0, TIM_TypeDef *timer_type1, TIM_TypeDef *timer_type2, size_t pulse_per_revol, float _cy_ms, const int a[3], float _R, float _d);
+    void set_pid(int n, float _kp, float _ki, float _kd);
+    void set_speed(float vx, float vy);
+    void set_speed(float vx, float vy, float omega);
+    void set_speed(float _vx, float _vy, float _omega, bool _f);
+    void renew_theta();
+    bool renew_speed();
+    void _set_speed();
+    void drive();
+    void reset_theta();
+    float get_theta();
+    float get_vx();
+    float get_vy();
+};
+
+#endif