広田 勇斗 / Mbed 2 deprecated Omni_2017_a

Omni_2017_a

Dependencies:   mbed

Fork of Omni_2017_z by 広田 勇斗

2017_3/2017_3_z.h@0:fd933ea5f19d, 2017-08-05 (annotated)

Committer:
hirotayamato
Date:
Sat Aug 05 02:29:14 2017 +0000
Revision:
0:fd933ea5f19d
Omni_2017_z

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Who changed what in which revision?

UserRevisionLine numberNew contents of line
hirotayamato 0:fd933ea5f19d 1 #ifndef _OMNI_3_H_
hirotayamato 0:fd933ea5f19d 2 #define _OMNI_3_H_
hirotayamato 0:fd933ea5f19d 3 #include "mbed.h"
hirotayamato 0:fd933ea5f19d 4 #include "MD.h"
hirotayamato 0:fd933ea5f19d 5 #include "MD_PID.h"
hirotayamato 0:fd933ea5f19d 6
hirotayamato 0:fd933ea5f19d 7 class Omni_3{
hirotayamato 0:fd933ea5f19d 8 public:
hirotayamato 0:fd933ea5f19d 9 Omni_3(PinName pin_pwm_F1, PinName pin_pwm_F2, PinName pin_dere_F1, PinName pin_dere_F2, PinName pin_channelA_F, PinName pin_channelB_F,
hirotayamato 0:fd933ea5f19d 10 PinName pin_pwm_L1, PinName pin_pwm_L2, PinName pin_dere_L1, PinName pin_dere_L2, PinName pin_channelA_L, PinName pin_channelB_L,
hirotayamato 0:fd933ea5f19d 11 PinName pin_pwm_R1, PinName pin_pwm_R2, PinName pin_dere_R1, PinName pin_dere_R2, PinName pin_channelA_R, PinName pin_channelB_R,
hirotayamato 0:fd933ea5f19d 12 int rev = 1);
hirotayamato 0:fd933ea5f19d 13 void Drive( double arg_x, double arg_y, double arg_rota,
hirotayamato 0:fd933ea5f19d 14 double F_Gain = 1.0, double L_Gain = 1.0, double R_Gain = 1.0);
hirotayamato 0:fd933ea5f19d 15
hirotayamato 0:fd933ea5f19d 16 private:
hirotayamato 0:fd933ea5f19d 17 void Matrix(double speed[3], double duty[3]);
hirotayamato 0:fd933ea5f19d 18 int rev;
hirotayamato 0:fd933ea5f19d 19 MD_PID *md_f1;
hirotayamato 0:fd933ea5f19d 20 MD_PID *md_f2;
hirotayamato 0:fd933ea5f19d 21 MD_PID *md_l1;
hirotayamato 0:fd933ea5f19d 22 MD_PID *md_l2;
hirotayamato 0:fd933ea5f19d 23 MD_PID *md_r1;
hirotayamato 0:fd933ea5f19d 24 MD_PID *md_r2;
hirotayamato 0:fd933ea5f19d 25 };
hirotayamato 0:fd933ea5f19d 26 #endif
hirotayamato 0:fd933ea5f19d 27