File content as of revision 3:42fdfd41f96a:

#include "2017_4.h"
#include "mbed.h"
#include <math.h>

Mekanamu_4::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 arg_rev)
{
    md_fr = Create_MD_PID(pin_channelA_FR, pin_channelB_FR, NC, 500, QEI::X4_ENCODING,
                         0.095 * 2, 0, 0.002 * 4, 500,
                         pin_pwm_FR, pin_dere_FR);

    md_fl = Create_MD_PID(pin_channelA_FL, pin_channelB_FL, NC, 500, QEI::X4_ENCODING,
    					 0.095 * 2, 0, 0.002 * 4, 500,
    					 pin_pwm_FL, pin_dere_FL);

    md_bl = Create_MD_PID(pin_channelA_BL, pin_channelB_BL, NC, 500, QEI::X4_ENCODING,
    					 0.095 * 2, 0, 0.002 * 4, 500,
    					 pin_pwm_BL, pin_dere_BL);

    md_br = Create_MD_PID(pin_channelA_BR, pin_channelB_BR, NC, 500, QEI::X4_ENCODING,
    					 0.095 * 2, 0, 0.002 * 4, 500,
    					 pin_pwm_BR, pin_dere_BR);

    rev = arg_rev;
}

void Mekanamu_4::Drive( double arg_x, double arg_y, double arg_rota,
						double F_Gain, double B_Gain, double R_Gain, double L_Gain)
{
    double dere, sp;
    double duty[4];
    double speed[3];

    dere = atan2(arg_y, arg_x);
    sp = pow(arg_x * arg_x + arg_y * arg_y, 0.60);

    speed[0] = cos(dere) * sp;   // vx
    speed[1] = sin(dere) * sp;   // vy
    speed[2] = arg_rota;         // omega

    Matrix(speed, duty);
    for(int i = 0; i < 4; i ++){
        if(fabs(duty[i]) > 1.0){
            int inv = fabs(duty[i]);
            for(int j = 0; j < 3; j ++){
                duty[j] *= 1.0 / (double)inv;
            }
        }
    }
    md_fr->Drive(duty[0] * F_Gain, 100);
    md_fl->Drive(duty[1] * B_Gain, 100);
    md_bl->Drive(duty[2] * R_Gain, 100);
    md_br->Drive(duty[3] * L_Gain, 100);
}

void Mekanamu_4::Matrix(double speed[3], double duty[4])
{
    double keisu[4][3];
    keisu[0][0] = sqrt(2.0) / 2.0;
    keisu[0][1] = -sqrt(2.0) / 2.0;
    keisu[0][2] = 1.0;
    keisu[1][0] = sqrt(2.0) / 2.0;
    keisu[1][1] = sqrt(2.0) / 2.0;
    keisu[1][2] = 1.0;
    keisu[2][0] = -sqrt(2.0) / 2.0;
    keisu[2][1] = sqrt(2.0) / 2.0;
    keisu[2][2] = 1.0;
    keisu[3][0] = -sqrt(2.0) / 2.0;
    keisu[3][1] = -sqrt(2.0) / 2.0;
    keisu[3][2] = 1.0;

    for(int i = 0; i < 4; i ++){
        duty[i] = 0;
        for(int j = 0; j < 3; j ++){
            duty[i] += keisu[i][j] * speed[j] * rev;
        }
    }
}