ken fuji / mecanum2017

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mecanum2017.h@0:d4e9f39c6086, 2017-08-17 (annotated)

Committer:
fujikenac
Date:
Thu Aug 17 03:47:38 2017 +0000
Revision:
0:d4e9f39c6086
Child:
1:cc63373e84ec
ver1.0

Who changed what in which revision?

UserRevisionLine numberNew contents of line
fujikenac 0:d4e9f39c6086 1 #ifndef mecanum2017_H
fujikenac 0:d4e9f39c6086 2 #define mecanum2017_H
fujikenac 0:d4e9f39c6086 3 #include "mbed.h"
fujikenac 0:d4e9f39c6086 4 #define PI 3.141592654
fujikenac 0:d4e9f39c6086 5
fujikenac 0:d4e9f39c6086 6 class mecanum2017
fujikenac 0:d4e9f39c6086 7 {
fujikenac 0:d4e9f39c6086 8 private:
fujikenac 0:d4e9f39c6086 9 T_motor m1, m2, m3, m4;
fujikenac 0:d4e9f39c6086 10 double alpha, oldangle;
fujikenac 0:d4e9f39c6086 11 public:
fujikenac 0:d4e9f39c6086 12 mecanum2017(I2C& i2c_, char addr1, char addr2, char addr3, char addr4, int phase);
fujikenac 0:d4e9f39c6086 13
fujikenac 0:d4e9f39c6086 14 /* うごけー */
fujikenac 0:d4e9f39c6086 15 void move(int xdate, int ydate); //xdate, ydateは -64 ~ +64
fujikenac 0:d4e9f39c6086 16
fujikenac 0:d4e9f39c6086 17 /* まわれー */
fujikenac 0:d4e9f39c6086 18 void rotation(int rxdate);
fujikenac 0:d4e9f39c6086 19
fujikenac 0:d4e9f39c6086 20 /* とまれー */
fujikenac 0:d4e9f39c6086 21 void stop();
fujikenac 0:d4e9f39c6086 22 };
fujikenac 0:d4e9f39c6086 23 #endif