広田 勇斗 / Mbed 2 deprecated 2017_Bteam_beta_master_ashi

2017_Bteam_beta_master_ashi

Dependencies:   Alpha_Movements BoolProcess DataCaller_beta MD_PID mbed

Fork of 2017_Bteam_beta_master by taiyou komazawa

2017_3_h/2017_3_h.h

Committer:
hirotayamato
Date:
2017-09-29
Revision:
15:c78ef3aa8f5d
Parent:
12:dbff655e398e

File content as of revision 15:c78ef3aa8f5d:

#ifndef _OMNI_3_H_
#define _OMNI_3_H_
#include "mbed.h"
#include "MD.h"
#include "MD_PID.h"

class Omni_3{
public:
    Omni_3(PinName pin_pwm_F, PinName pin_dere_F, PinName pin_channelA_F, PinName pin_channelB_F,
           PinName pin_pwm_L, PinName pin_dere_L, PinName pin_channelA_L, PinName pin_channelB_L,
           PinName pin_pwm_R, PinName pin_dere_R, PinName pin_channelA_R, PinName pin_channelB_R,
           int rev = 1);
    void Drive( int arg_a, double arg_x, double arg_y, double arg_rota);

private:
    void Matrix(double speed[3], double duty[3]);
    int rev;
    MD_PID *md_f;
    MD_PID *md_l;
    MD_PID *md_r;
};
#endif