hirromu takaki / wheelUnit

手動ｂ足回り

Dependents:   kobayashi_rei

wheelUnit.h@3:01a6eca21b23, 2019-09-09 (annotated)

Committer:
THtakahiro702286
Date:
Mon Sep 09 04:48:30 2019 +0000
Revision:
3:01a6eca21b23
Parent:
2:9017bbe177b7 
wheelUnit

Who changed what in which revision?

UserRevisionLine numberNew contents of line
THtakahiro702286 0:0d52f303ac08 1 #ifndef WHEELUNIT_H
THtakahiro702286 0:0d52f303ac08 2 #define WHEELUNIT_H
THtakahiro702286 0:0d52f303ac08 3
THtakahiro702286 0:0d52f303ac08 4 #define PI 3.1415926535
THtakahiro702286 0:0d52f303ac08 5
THtakahiro702286 0:0d52f303ac08 6 #include "mbed.h"
THtakahiro702286 1:3c9eaf598f21 7 #include "pin_config.h"
THtakahiro702286 0:0d52f303ac08 8 #include "ikarashiMDC.h"
THtakahiro702286 0:0d52f303ac08 9 #include "omni_wheel.h"
THtakahiro702286 0:0d52f303ac08 10
THtakahiro702286 0:0d52f303ac08 11 class WheelUnit
THtakahiro702286 0:0d52f303ac08 12 {
THtakahiro702286 0:0d52f303ac08 13 public:
THtakahiro702286 0:0d52f303ac08 14 WheelUnit(Serial* serial);
THtakahiro702286 3:01a6eca21b23 15 void setBrake(int trigger);
THtakahiro702286 0:0d52f303ac08 16 void move(float x,float y,float turnPower);
THtakahiro702286 0:0d52f303ac08 17 void stop();
THtakahiro702286 0:0d52f303ac08 18
THtakahiro702286 0:0d52f303ac08 19 private:
THtakahiro702286 0:0d52f303ac08 20 OmniWheel omni;
THtakahiro702286 0:0d52f303ac08 21 ikarashiMDC **md;
THtakahiro702286 0:0d52f303ac08 22 Serial pc;
THtakahiro702286 0:0d52f303ac08 23 float print;
THtakahiro702286 2:9017bbe177b7 24 float wheel[4];
THtakahiro702286 3:01a6eca21b23 25 float brake;
THtakahiro702286 0:0d52f303ac08 26 };
THtakahiro702286 0:0d52f303ac08 27
THtakahiro702286 0:0d52f303ac08 28 #endif