Group of 3 hexapod legs
Tripod.h
- Committer:
- el13cj
- Date:
- 2016-05-11
- Revision:
- 6:186be62ba115
- Parent:
- 5:b37ae852304f
File content as of revision 6:186be62ba115:
#ifndef HEXAPOD_LEG_GROUP_H #define HEXAPOD_LEG_GROUP_H #define NUM_STEPS 20 #define STEP_DELAY 0.015 #include "mbed.h" #include "PCA9685.h" #include "HEXAPOD_LEG.h" #include "angles_9.h" #include "global_definitions.h" class Tripod { public: Tripod(PCA9685 Board, Hexapod_Leg Leg_1, Hexapod_Leg Leg_2, Hexapod_Leg Leg_3, int group, int start_point); void gait_smooth(void); void gait_step(void); void set_gait_start(int start_point); void set_direction(int dir); public: //int direction; private: void sweep_step_group(void); private: Hexapod_Leg leg_1; Hexapod_Leg leg_2; Hexapod_Leg leg_3; int group_number; PCA9685 board; int current_state; int next_state; int i; Ticker group_ticker; }; #endif