ken fuji / mecanum2017

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Diff: mecanum2017.h

Revision:
8:b1464c354ffd
Parent:
7:28a5f822ccd1
Child:
10:1a2fe21bfdb2
--- a/mecanum2017.h	Mon Aug 21 02:32:15 2017 +0000
+++ b/mecanum2017.h	Thu Sep 21 08:19:22 2017 +0000
@@ -7,8 +7,9 @@
 {
     private:
         T_motor m1, m2, m3, m4;
+        Timer timer;
         float para1, para2, para3, para4;
-        double alpha, beta, oldangle;
+        double alpha, beta, oldangle, sokudo;
     public:
         mecanum2017(I2C& i2c_, float para[], char addr[], 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
         
@@ -26,6 +27,8 @@
         
         /*そのままー*/
         void free();
+        
+        void kasoku();
 };
 #endif
 /*