Diff: 2017_3_b/2017_3_b.h

Revision:

0:6ed41770a6b7

Child:

2:158fea945e51

diff -r 000000000000 -r 6ed41770a6b7 2017_3_b/2017_3_b.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/2017_3_b/2017_3_b.h	Tue Aug 22 04:55:34 2017 +0000
@@ -0,0 +1,23 @@
+#ifndef _OMNI_3_H_
+#define _OMNI_3_H_
+#include "mbed.h"
+#include "MD.h"
+#include "MD_PID.h"
+
+class Omni_3{
+public:
+    Omni_3(PinName pin_pwm_F, PinName pin_dere_F, PinName pin_channelA_F, PinName pin_channelB_F,
+           PinName pin_pwm_L, PinName pin_dere_L, PinName pin_channelA_L, PinName pin_channelB_L,
+           PinName pin_pwm_R, PinName pin_dere_R, PinName pin_channelA_R, PinName pin_channelB_R,
+           int rev = 1);
+    void Drive( double arg_x, double arg_y, double arg_rota);
+    			
+private:
+    void Matrix(double speed[3], double duty[3]);
+    int rev;
+    MD_PID *md_f;
+    MD_PID *md_l;
+    MD_PID *md_r;
+};
+#endif
+