File content as of revision 0:fd933ea5f19d:

#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