Diff: shared/Movement/Movement.h

Revision:

0:ee7e9405e1c7

diff -r 000000000000 -r ee7e9405e1c7 shared/Movement/Movement.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/shared/Movement/Movement.h	Wed Apr 14 07:26:19 2021 +0000
@@ -0,0 +1,34 @@
+#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