ken fuji / mecanum2017

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mecanum2017.h

Committer:
fujikenac
Date:
2017-09-21
Revision:
8:b1464c354ffd
Parent:
7:28a5f822ccd1
Child:
10:1a2fe21bfdb2

File content as of revision 8:b1464c354ffd:

#ifndef mecanum2017_H
#define mecanum2017_H
#include "mbed.h"
#define PI 3.141592654

class mecanum2017
{
    private:
        T_motor m1, m2, m3, m4;
        Timer timer;
        float para1, para2, para3, para4;
        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
        
        /* 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);
        
        /* とまれー */
        void stop();
        
        /*そのままー*/
        void free();
        
        void kasoku();
};
#endif
/*
Motor

 \\ 2--------1 // 
    |        |
    |        |
 // 3--------4 \\
*/