Diff: 2017_3/2017_3_z.h

Revision:

2:82c337a18500

Parent:

1:fa8227369eb0

--- a/2017_3/2017_3_z.h	Sat Aug 05 02:36:16 2017 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,27 +0,0 @@
-#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_F1, PinName pin_pwm_F2, PinName pin_dere_F1, PinName pin_dere_F2, PinName pin_channelA_F, PinName pin_channelB_F,
-           PinName pin_pwm_L1, PinName pin_pwm_L2, PinName pin_dere_L1, PinName pin_dere_L2, PinName pin_channelA_L, PinName pin_channelB_L,
-           PinName pin_pwm_R1, PinName pin_pwm_R2, PinName pin_dere_R1, PinName pin_dere_R2, PinName pin_channelA_R, PinName pin_channelB_R,
-           int rev = 1);
-    void Drive( double arg_x, double arg_y, double arg_rota,
-    			double F_Gain = 1.0, double L_Gain = 1.0, double R_Gain = 1.0);
-    			
-private:
-    void Matrix(double speed[3], double duty[3]);
-    int rev;
-    MD_PID *md_f1;
-    MD_PID *md_f2;
-    MD_PID *md_l1;
-    MD_PID *md_l2;
-    MD_PID *md_r1;
-    MD_PID *md_r2;
-};
-#endif
-