Diff: 2017_4/2017_4.h

Revision:

0:e77e7d7bbae0

Child:

4:169a7b6c0138

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/2017_4/2017_4.h	Wed Aug 30 05:23:13 2017 +0000
@@ -0,0 +1,24 @@
+#ifndef _Mekanamu_4_H_
+#define _Mekanamu_4_H_
+#include "mbed.h"
+#include "MD.h"
+#include "MD_PID.h"
+
+class Mekanamu_4{
+public:
+    Mekanamu_4(PinName pin_pwm_FR, PinName pin_dere_FR, PinName pin_channelA_FR, PinName pin_channelB_FR,
+               PinName pin_pwm_FL, PinName pin_dere_FL, PinName pin_channelA_FL, PinName pin_channelB_FL,
+               PinName pin_pwm_BL, PinName pin_dere_BL, PinName pin_channelA_BL, PinName pin_channelB_BL,
+               PinName pin_pwm_BR, PinName pin_dere_BR, PinName pin_channelA_BR, PinName pin_channelB_BR,
+               int rev = 1);
+    void Drive( double arg_x, double arg_y, double arg_rota,
+    			double F_Gain = 1.0, double B_Gain = 1.0, double R_Gain = 1.0, double L_Gain = 1.0);
+private:
+    void Matrix(double speed[3], double duty[4]);
+    int rev;
+    MD_PID *md_fr;
+    MD_PID *md_fl;
+    MD_PID *md_bl;
+    MD_PID *md_br;
+};
+#endif
\ No newline at end of file