Diff: measuring_wheel.h

Revision:

2:f34a22b28ac5

Parent:

1:3f01bf4d7e56

Child:

3:30045028d27e

--- a/measuring_wheel.h	Wed Jul 04 09:32:06 2018 +0000
+++ b/measuring_wheel.h	Tue Jul 31 08:30:51 2018 +0000
@@ -3,6 +3,8 @@
 
 #include "mbed.h"
 #include "QEI.h"
+//#include "r1307.h"
+#include "OmniPosition.h"
 #define PI 3.141592653589793
 
 class MeasuringWheel
@@ -16,27 +18,33 @@
     float getOutX();
     float getOutY();
     void transmissionXY();
-     
+    float getWheel1(),getWheel2(),getWheel3();
+    float getjyroAngle();
+    OmniPosition r1370;
 
 private :
     float diameter[3];
     float radian[3];
-    float wheel[3],r,X,Y;
+    float wheel[3],r,X,Y,subX,subY;
     void computeXY();
+    
        
 
     QEI w1;
     QEI w2;
     QEI w3;
+//    R1307 r1370;
+    float Cdif, yaw;
     Ticker ticker;
-    Ticker ticker1;
     uint16_t X_, Y_,ofsetX, ofsetY;
     char upBitX, upBitY;
     char downBitX,downBitY;
     Serial mainMicon;
     char get;
     DigitalOut led;
-//    void resetpisithon(); 
+    void resetpisithon(); 
+//    void rawAngle();
+    
     
 };