ken fuji / mecanum2017

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Diff: mecanum2017.h

Revision:
0:d4e9f39c6086
Child:
1:cc63373e84ec
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mecanum2017.h	Thu Aug 17 03:47:38 2017 +0000
@@ -0,0 +1,23 @@
+#ifndef mecanum2017_H
+#define mecanum2017_H
+#include "mbed.h"
+#define PI 3.141592654
+
+class mecanum2017
+{
+    private:
+        T_motor m1, m2, m3, m4;
+        double alpha, oldangle;
+    public:
+        mecanum2017(I2C& i2c_, char addr1, char addr2, char addr3, char addr4, int phase);
+        
+        /* うごけー */
+        void move(int xdate, int ydate); //xdate, ydateは -64 ~ +64
+        
+        /* まわれー */
+        void rotation(int rxdate);
+        
+        /* とまれー */
+        void stop();
+};
+#endif
\ No newline at end of file