ken fuji / omuni3

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Dependencies:   P_motor T_motor

Fork of omuni by gaku takasawa

Diff: omuni.h

Revision:
2:fe76af2dff4d
Parent:
0:c0f3e14f1ed1
Child:
3:51f47bf405a0
--- a/omuni.h	Tue Oct 10 12:50:39 2017 +0000
+++ b/omuni.h	Fri Oct 13 10:10:32 2017 +0000
@@ -1,6 +1,7 @@
 #ifndef omuni_H
 #define omuni_H
 #include "T_motor.h"
+#include "P_motor.h"
 #include "mbed.h"
 
 #define PI 3.14159265359
@@ -9,13 +10,15 @@
 class omuni{
     private:
         I2C *i2c;
-        T_motor m1,m2,m3;
+        Ticker tick;
+        P_motor m1,m2,m3;
         char RXData[dataNum];
         int8_t map(int8_t in, int8_t inMin, int8_t inMax, int8_t outMin, int8_t outMax);
         
     public:
-        omuni(I2C* i2c_,int8_t addr1,int8_t addr2,int8_t addr3);
+        omuni(I2C* i2c_,int8_t addr1,int8_t addr2,int8_t addr3, double delta = 0.1);
         void out(char rxdata[dataNum],float L = 0.275);
+        void compute_task();
         
 };
 #endif   
\ No newline at end of file