tianyun ma / Mbed 2 deprecated mecanum_4

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   mbed

mecanum_4.cpp

Committer:
himarsmty
Date:
2018-05-07
Revision:
0:b7d3adaffc0a

File content as of revision 0:b7d3adaffc0a:

#include "mecanum_4.h"

//four motors
Motor_3 front_left(PB_3,PB_4,PB_1);
Motor_3 front_right(PA_12,PA_15,PB_0);
Motor_3 back_left(PB_13,PB_12,PA_6);
Motor_3 back_right(PB_15,PB_14,PA_7); 

void mecanum_4::mv_x(float speed)
{
    front_left.mv(speed);   front_right.mv(speed);
    back_left.mv(speed);    back_right.mv(speed);
}
void mecanum_4::mv_y(float speed)
{
    float speed1=-speed; 
    front_left.mv(speed1);   front_right.mv(speed);
    back_left.mv(speed);    back_right.mv(speed1);
}
void mecanum_4::rotate(float speed)
{
    float speed1=-speed;
    front_left.mv(speed1);   front_right.mv(speed);
    back_left.mv(speed1);    back_right.mv(speed);
}
void mecanum_4::r_ob(float speed)
{
    front_left.mv(speed);   front_right.mv(0);
    back_left.mv(0);    back_right.mv(speed);        
}
void mecanum_4::i_ob(float speed)
{
    front_left.mv(0);   front_right.mv(speed);
    back_left.mv(speed);    back_right.mv(0);        
}
void mecanum_4::any_degree(float degree,float time)
{
    if(degree>=0&&degree<=90)
    {
            float degree1=(-degree)/90*200+100;
            front_left.mv(100);   front_right.mv(degree1);
            back_left.mv(degree1);    back_right.mv(100);     
    }   
    else if(degree>=90&&degree<=180)
    {
            float degree1=(-degree)/90*200+300;
            front_left.mv(degree1);   front_right.mv(-100);
            back_left.mv(-100);    back_right.mv(degree1);  
    }
    else if(degree>=180&&degree<=270)
    {
            float degree1=degree/90*200-500;
            front_left.mv(-100);   front_right.mv(degree1);
            back_left.mv(degree1);    back_right.mv(-100);  
    }
    else if(degree>=270&&degree<=360)
    {
            float degree1=degree/90*200-700;
            front_left.mv(degree1);   front_right.mv(100);
            back_left.mv(100);    back_right.mv(degree1);  
    }
    wait(time);
    front_left.stop();
    front_right.stop();
    back_left.stop();
    back_right.stop();
}