広田 勇斗 / Mbed 2 deprecated BETA_A

BETA_A

Dependencies:   DataPool MD_PID mbed

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Show/hide line numbers 2017_3_h.h Source File

2017_3_h.h

00001 #ifndef _OMNI_3_H_
00002 #define _OMNI_3_H_
00003 #include "mbed.h"
00004 #include "MD.h"
00005 #include "MD_PID.h"
00006 
00007 class Omni_3{
00008 public:
00009     Omni_3(PinName pin_pwm_F, PinName pin_dere_F, PinName pin_channelA_F, PinName pin_channelB_F,
00010            PinName pin_pwm_L, PinName pin_dere_L, PinName pin_channelA_L, PinName pin_channelB_L,
00011            PinName pin_pwm_R, PinName pin_dere_R, PinName pin_channelA_R, PinName pin_channelB_R,
00012            int rev = 1);
00013     void Drive( double arg_x, double arg_y, double arg_rota);
00014 
00015 private:
00016     void Matrix(double speed[3], double duty[3]);
00017     int rev;
00018     MD_PID *md_f;
00019     MD_PID *md_l;
00020     MD_PID *md_r;
00021 };
00022 #endif
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