Takeuchi Issei / Mbed 2 deprecated 4Omunisleeve3

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   mbed Eigen

shared/Movement/Movement.h@0:ee7e9405e1c7, 2021-04-14 (annotated)

Committer:
e2011220
Date:
Wed Apr 14 07:26:19 2021 +0000
Revision:
0:ee7e9405e1c7
first

Who changed what in which revision?

UserRevisionLine numberNew contents of line
e2011220 0:ee7e9405e1c7 1 #ifndef MOVEMENT_H_
e2011220 0:ee7e9405e1c7 2 #define MOVEMENT_H_
e2011220 0:ee7e9405e1c7 3
e2011220 0:ee7e9405e1c7 4 #ifndef _USE_MATH_DEFINES
e2011220 0:ee7e9405e1c7 5 #define _USE_MATH_DEFINES
e2011220 0:ee7e9405e1c7 6 #endif
e2011220 0:ee7e9405e1c7 7 #include <math.h>
e2011220 0:ee7e9405e1c7 8
e2011220 0:ee7e9405e1c7 9 #include <mbed.h>
e2011220 0:ee7e9405e1c7 10 #include <Dense.h>
e2011220 0:ee7e9405e1c7 11
e2011220 0:ee7e9405e1c7 12 class Movement
e2011220 0:ee7e9405e1c7 13 {
e2011220 0:ee7e9405e1c7 14 public:
e2011220 0:ee7e9405e1c7 15 Movement();
e2011220 0:ee7e9405e1c7 16 virtual ~Movement(){};
e2011220 0:ee7e9405e1c7 17
e2011220 0:ee7e9405e1c7 18 // 各ホイールの出力の比率を保ちながら、limitまで底上げ
e2011220 0:ee7e9405e1c7 19 void up_limit_balance(double duty[], double units_num, double limit);
e2011220 0:ee7e9405e1c7 20
e2011220 0:ee7e9405e1c7 21 // 各ホイールの出力の比率を保ちながら、limitまで抑制
e2011220 0:ee7e9405e1c7 22 void down_limit_balance(double duty[], double units_num, double limit);
e2011220 0:ee7e9405e1c7 23
e2011220 0:ee7e9405e1c7 24 enum VectorElements{
e2011220 0:ee7e9405e1c7 25 X,
e2011220 0:ee7e9405e1c7 26 Y,
e2011220 0:ee7e9405e1c7 27 Yaw
e2011220 0:ee7e9405e1c7 28 };
e2011220 0:ee7e9405e1c7 29
e2011220 0:ee7e9405e1c7 30 virtual void move(double x, double y, double yaw) = 0;
e2011220 0:ee7e9405e1c7 31 virtual void move(Eigen::Vector3d move_vector);
e2011220 0:ee7e9405e1c7 32 };
e2011220 0:ee7e9405e1c7 33
e2011220 0:ee7e9405e1c7 34 #endif