hirromu takaki / wheelUnit

手動ｂ足回り

Dependents:   kobayashi_rei

wheelUnit.h

Committer:
THtakahiro702286
Date:
2019-09-09
Revision:
3:01a6eca21b23
Parent:
2:9017bbe177b7

File content as of revision 3:01a6eca21b23:

#ifndef WHEELUNIT_H
#define WHEELUNIT_H

#define PI 3.1415926535

#include "mbed.h"
#include "pin_config.h"
#include "ikarashiMDC.h"
#include "omni_wheel.h"

class WheelUnit
{
public:
    WheelUnit(Serial* serial);
    void setBrake(int trigger);
    void move(float x,float y,float turnPower);
    void stop();

private:
    OmniWheel omni;
    ikarashiMDC **md;
    Serial pc;
    float print;
    float wheel[4];
    float brake;
};

#endif