広田 勇斗 / Mbed 2 deprecated GAMMA_A

GAMMA_A

Dependencies:   DataPool MD_PID mbed

2017_3_b/2017_3_b.h@0:6ed41770a6b7, 2017-08-22 (annotated)

Committer:
hirotayamato
Date:
Tue Aug 22 04:55:34 2017 +0000
Revision:
0:6ed41770a6b7
Child:
2:158fea945e51
GAMMA_A;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
hirotayamato 0:6ed41770a6b7 1 #ifndef _OMNI_3_H_
hirotayamato 0:6ed41770a6b7 2 #define _OMNI_3_H_
hirotayamato 0:6ed41770a6b7 3 #include "mbed.h"
hirotayamato 0:6ed41770a6b7 4 #include "MD.h"
hirotayamato 0:6ed41770a6b7 5 #include "MD_PID.h"
hirotayamato 0:6ed41770a6b7 6
hirotayamato 0:6ed41770a6b7 7 class Omni_3{
hirotayamato 0:6ed41770a6b7 8 public:
hirotayamato 0:6ed41770a6b7 9 Omni_3(PinName pin_pwm_F, PinName pin_dere_F, PinName pin_channelA_F, PinName pin_channelB_F,
hirotayamato 0:6ed41770a6b7 10 PinName pin_pwm_L, PinName pin_dere_L, PinName pin_channelA_L, PinName pin_channelB_L,
hirotayamato 0:6ed41770a6b7 11 PinName pin_pwm_R, PinName pin_dere_R, PinName pin_channelA_R, PinName pin_channelB_R,
hirotayamato 0:6ed41770a6b7 12 int rev = 1);
hirotayamato 0:6ed41770a6b7 13 void Drive( double arg_x, double arg_y, double arg_rota);
hirotayamato 0:6ed41770a6b7 14
hirotayamato 0:6ed41770a6b7 15 private:
hirotayamato 0:6ed41770a6b7 16 void Matrix(double speed[3], double duty[3]);
hirotayamato 0:6ed41770a6b7 17 int rev;
hirotayamato 0:6ed41770a6b7 18 MD_PID *md_f;
hirotayamato 0:6ed41770a6b7 19 MD_PID *md_l;
hirotayamato 0:6ed41770a6b7 20 MD_PID *md_r;
hirotayamato 0:6ed41770a6b7 21 };
hirotayamato 0:6ed41770a6b7 22 #endif
hirotayamato 0:6ed41770a6b7 23