広田 勇斗 / Mbed 2 deprecated ALPHA_A

ALPHA_A

Dependencies:   DataPool MD_PID mbed

2017_4/2017_4.h@6:bb5e51ded250, 2017-09-15 (annotated)

Committer:
hirotayamato
Date:
Fri Sep 15 01:11:50 2017 +0000
Revision:
6:bb5e51ded250
Parent:
4:169a7b6c0138 
ALPHA_A

Who changed what in which revision?

UserRevisionLine numberNew contents of line
hirotayamato 4:169a7b6c0138 1 #ifndef _Mecanamu_4_H_
hirotayamato 4:169a7b6c0138 2 #define _Mecanamu_4_H_
hirotayamato 0:e77e7d7bbae0 3 #include "mbed.h"
hirotayamato 0:e77e7d7bbae0 4 #include "MD.h"
hirotayamato 0:e77e7d7bbae0 5 #include "MD_PID.h"
hirotayamato 0:e77e7d7bbae0 6
hirotayamato 4:169a7b6c0138 7 class Mecanamu_4{
hirotayamato 0:e77e7d7bbae0 8 public:
hirotayamato 4:169a7b6c0138 9 Mecanamu_4(PinName pin_pwm_FR, PinName pin_dere_FR, PinName pin_channelA_FR, PinName pin_channelB_FR,
hirotayamato 0:e77e7d7bbae0 10 PinName pin_pwm_FL, PinName pin_dere_FL, PinName pin_channelA_FL, PinName pin_channelB_FL,
hirotayamato 0:e77e7d7bbae0 11 PinName pin_pwm_BL, PinName pin_dere_BL, PinName pin_channelA_BL, PinName pin_channelB_BL,
hirotayamato 0:e77e7d7bbae0 12 PinName pin_pwm_BR, PinName pin_dere_BR, PinName pin_channelA_BR, PinName pin_channelB_BR,
hirotayamato 0:e77e7d7bbae0 13 int rev = 1);
hirotayamato 0:e77e7d7bbae0 14 void Drive( double arg_x, double arg_y, double arg_rota,
hirotayamato 0:e77e7d7bbae0 15 double F_Gain = 1.0, double B_Gain = 1.0, double R_Gain = 1.0, double L_Gain = 1.0);
hirotayamato 0:e77e7d7bbae0 16 private:
hirotayamato 0:e77e7d7bbae0 17 void Matrix(double speed[3], double duty[4]);
hirotayamato 0:e77e7d7bbae0 18 int rev;
hirotayamato 0:e77e7d7bbae0 19 MD_PID *md_fr;
hirotayamato 0:e77e7d7bbae0 20 MD_PID *md_fl;
hirotayamato 0:e77e7d7bbae0 21 MD_PID *md_bl;
hirotayamato 0:e77e7d7bbae0 22 MD_PID *md_br;
hirotayamato 0:e77e7d7bbae0 23 };
hirotayamato 0:e77e7d7bbae0 24 #endif