Diff: mecanum2017_2.h

Revision:

0:7d6d030c6a1b

Child:

1:b92b7b117776

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mecanum2017_2.h	Fri Sep 29 08:53:02 2017 +0000
@@ -0,0 +1,32 @@
+#ifndef mecanum2017_2_H
+#define mecanum2017_2_H
+#include "mbed.h"
+#define PI 3.141592654
+/*
+Motor
+
+ \\ 2--------1 // 
+    |        |
+    |        |
+ // 3--------4 \\
+*/
+class mecanum2017_2
+{
+    private:
+        T_motor m1, m2, m3, m4;
+        Timer timer;
+        float* para;
+        float rate;
+        double alpha, beta, speed;
+        
+        double get_angle(short xdata, short ydata);
+        short get_magnitude(short xdata, short ydata, short max);
+        short map(short value, short fromLow, short fromHigh, short toLow, short toHigh);
+    public:
+        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
+        void move(short xdata_L, short ydata_L, short xdata_R = 0);
+        void anglemove(double angle);
+        void stop();
+        void kasoku();
+};
+#endif
\ No newline at end of file