Takeuchi Issei
メカナムのコード
shared/Mecanum_4/Mecanum_4.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?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| e2011220 | 0:ee7e9405e1c7 | 1 | |
| e2011220 | 0:ee7e9405e1c7 | 2 | #ifndef MECANUM_4_H_ |
| e2011220 | 0:ee7e9405e1c7 | 3 | #define MECANUM_4_H_ |
| e2011220 | 0:ee7e9405e1c7 | 4 | |
| e2011220 | 0:ee7e9405e1c7 | 5 | #include <shared/Movement/Movement.h> |
| e2011220 | 0:ee7e9405e1c7 | 6 | #include <shared/Wheel/Wheel.h> |
| e2011220 | 0:ee7e9405e1c7 | 7 | |
| e2011220 | 0:ee7e9405e1c7 | 8 | class Mecanum_4 : public Movement |
| e2011220 | 0:ee7e9405e1c7 | 9 | { |
| e2011220 | 0:ee7e9405e1c7 | 10 | public: |
| e2011220 | 0:ee7e9405e1c7 | 11 | enum |
| e2011220 | 0:ee7e9405e1c7 | 12 | { |
| e2011220 | 0:ee7e9405e1c7 | 13 | LF, |
| e2011220 | 0:ee7e9405e1c7 | 14 | LB, |
| e2011220 | 0:ee7e9405e1c7 | 15 | RB, |
| e2011220 | 0:ee7e9405e1c7 | 16 | RF, |
| e2011220 | 0:ee7e9405e1c7 | 17 | NUM |
| e2011220 | 0:ee7e9405e1c7 | 18 | }; |
| e2011220 | 0:ee7e9405e1c7 | 19 | |
| e2011220 | 0:ee7e9405e1c7 | 20 | Mecanum_4(MD *md[NUM]); |
| e2011220 | 0:ee7e9405e1c7 | 21 | Mecanum_4(MD *md_LF, MD *md_LB, MD *md_RB, MD *md_RF); |
| e2011220 | 0:ee7e9405e1c7 | 22 | Mecanum_4(Wheel *wheel[NUM]); |
| e2011220 | 0:ee7e9405e1c7 | 23 | |
| e2011220 | 0:ee7e9405e1c7 | 24 | virtual void move(double x, double y, double yaw); |
| e2011220 | 0:ee7e9405e1c7 | 25 | |
| e2011220 | 0:ee7e9405e1c7 | 26 | |
| e2011220 | 0:ee7e9405e1c7 | 27 | private: |
| e2011220 | 0:ee7e9405e1c7 | 28 | Wheel *wheel[NUM]; |
| e2011220 | 0:ee7e9405e1c7 | 29 | |
| e2011220 | 0:ee7e9405e1c7 | 30 | }; |
| e2011220 | 0:ee7e9405e1c7 | 31 | |
| e2011220 | 0:ee7e9405e1c7 | 32 | #endif |
| e2011220 | 0:ee7e9405e1c7 | 33 |