Diff: mechanism.h

Revision:

1:58b20a731e15

Parent:

0:0b7a52a20594

Child:

3:ff9bb9f8fabe

--- a/mechanism.h	Mon Sep 09 04:49:03 2019 +0000
+++ b/mechanism.h	Fri Sep 13 03:01:24 2019 +0000
@@ -2,15 +2,15 @@
 #define MECHANISM_H
 
 #include "mbed.h"
-#include "QEI.h"
 #include "pin_config.h"
 #include "ikarashiMDC.h"
-#include "serialArduino.h"
+#include "omni_wheel.h"
 
 class Mechanism
 {
 public:
     Mechanism(Serial* serial);
+    void sendHeader();
     void getTrigger(int Trigger);
     void up();
     void down();
@@ -20,12 +20,17 @@
     void loadRight();
     void loadLeft();
     void lift();
+    void setBrake(int trigger);
+    void move(float x,float y,float turnPower);
+    void stop();
+    void noAct();
 
 private:
-    SerialArduino nano;
     int trigger;
-    QEI encoder;
     ikarashiMDC **md;
+    OmniWheel omni;
+    float wheel[4];
+    float brake;
 };
 
 #endif
\ No newline at end of file