Diff: mecanum2017.h

Revision:

3:063d7878f0d1

Parent:

1:cc63373e84ec

Child:

4:d4c2e7addc77

--- a/mecanum2017.h	Fri Aug 18 02:10:23 2017 +0000
+++ b/mecanum2017.h	Fri Aug 18 07:16:50 2017 +0000
@@ -7,13 +7,18 @@
 {
     private:
         T_motor m1, m2, m3, m4;
-        double alpha, oldangle;
+        short para1, para2, para3, para4;
+        double alpha, beta, oldangle;
     public:
-        mecanum2017(I2C& i2c_, char addr1, char addr2, char addr3, char addr4, int phase);
+        mecanum2017(I2C& i2c_, short para1_, char addr1, short para2_, char addr2,
+         short para3_, char addr3, short para4_, char addr4, int phase); //paraはモーターの回転方向を±1で表すよ いつもは全部+1だよ
         
         /* うごけー */
         void move(int xdate, int ydate); //xdate, ydateは -64 ~ +64
         
+        /*かくどー*/
+        void anglemove(double angle);
+        
         /* まわれー */
         void rotation(int rxdate);