Takeuchi Issei / Mbed 2 deprecated 4Omunisleeve3

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Dependencies:   mbed Eigen

shared/Movement/Movement.h

Committer:
e2011220
Date:
2021-04-14
Revision:
0:ee7e9405e1c7

File content as of revision 0:ee7e9405e1c7:

#ifndef MOVEMENT_H_
#define MOVEMENT_H_

#ifndef _USE_MATH_DEFINES
#define _USE_MATH_DEFINES
#endif
#include <math.h>

#include <mbed.h>
#include <Dense.h>

class Movement
{
public:
	Movement();
	virtual ~Movement(){};

	// 各ホイールの出力の比率を保ちながら、limitまで底上げ
	void up_limit_balance(double duty[], double units_num, double limit);

	// 各ホイールの出力の比率を保ちながら、limitまで抑制
	void down_limit_balance(double duty[], double units_num, double limit);

	enum VectorElements{
		X,
		Y,
		Yaw
	};

	virtual void move(double x, double y, double yaw) = 0;
	virtual void move(Eigen::Vector3d move_vector);
};

#endif