ken fuji / mecanum2017_2

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mecanum2017_2.h@1:b92b7b117776, 2017-10-25 (annotated)

Committer:
fujikenac
Date:
Wed Oct 25 09:35:35 2017 +0000
Revision:
1:b92b7b117776
Parent:
0:7d6d030c6a1b 
add change_rate

Who changed what in which revision?

UserRevisionLine numberNew contents of line
fujikenac 0:7d6d030c6a1b 1 #ifndef mecanum2017_2_H
fujikenac 0:7d6d030c6a1b 2 #define mecanum2017_2_H
fujikenac 0:7d6d030c6a1b 3 #include "mbed.h"
fujikenac 0:7d6d030c6a1b 4 #define PI 3.141592654
fujikenac 0:7d6d030c6a1b 5 /*
fujikenac 0:7d6d030c6a1b 6 Motor
fujikenac 0:7d6d030c6a1b 7
fujikenac 0:7d6d030c6a1b 8 \\ 2--------1 //
fujikenac 0:7d6d030c6a1b 9 | |
fujikenac 0:7d6d030c6a1b 10 | |
fujikenac 0:7d6d030c6a1b 11 // 3--------4 \\
fujikenac 0:7d6d030c6a1b 12 */
fujikenac 0:7d6d030c6a1b 13 class mecanum2017_2
fujikenac 0:7d6d030c6a1b 14 {
fujikenac 0:7d6d030c6a1b 15 private:
fujikenac 1:b92b7b117776 16 P_motor m1, m2, m3, m4;
fujikenac 1:b92b7b117776 17 //Timer timer;
fujikenac 0:7d6d030c6a1b 18 float* para;
fujikenac 1:b92b7b117776 19 double alpha, beta;
fujikenac 1:b92b7b117776 20 //double speed;
fujikenac 0:7d6d030c6a1b 21 double get_angle(short xdata, short ydata);
fujikenac 0:7d6d030c6a1b 22 short get_magnitude(short xdata, short ydata, short max);
fujikenac 0:7d6d030c6a1b 23 short map(short value, short fromLow, short fromHigh, short toLow, short toHigh);
fujikenac 1:b92b7b117776 24 // void acceleration();
fujikenac 1:b92b7b117776 25 // void speed_reset();
fujikenac 0:7d6d030c6a1b 26 public:
fujikenac 0:7d6d030c6a1b 27 mecanum2017_2(I2C* i2c_, float* para_, char addr[], float rate_, 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
fujikenac 0:7d6d030c6a1b 28 void move(short xdata_L, short ydata_L, short xdata_R = 0);
fujikenac 0:7d6d030c6a1b 29 void anglemove(double angle);
fujikenac 0:7d6d030c6a1b 30 void stop();
fujikenac 1:b92b7b117776 31 void set_rate(double rate_);
fujikenac 0:7d6d030c6a1b 32 };
fujikenac 0:7d6d030c6a1b 33 #endif