carbase
Dependencies: mbed mbed-rtos ros_lib_melodic
OmniWheel.h@4:aa8ef06b9469, 2021-01-30 (annotated)
- Committer:
- howanglam3
- Date:
- Sat Jan 30 12:05:58 2021 +0000
- Revision:
- 4:aa8ef06b9469
updated
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
howanglam3 | 4:aa8ef06b9469 | 1 | #ifndef OMNI_WHEEL |
howanglam3 | 4:aa8ef06b9469 | 2 | #define OMNI_WHEEL |
howanglam3 | 4:aa8ef06b9469 | 3 | |
howanglam3 | 4:aa8ef06b9469 | 4 | // Mbed Library |
howanglam3 | 4:aa8ef06b9469 | 5 | #include <vector> |
howanglam3 | 4:aa8ef06b9469 | 6 | |
howanglam3 | 4:aa8ef06b9469 | 7 | using namespace std; |
howanglam3 | 4:aa8ef06b9469 | 8 | |
howanglam3 | 4:aa8ef06b9469 | 9 | class OmniWheel { |
howanglam3 | 4:aa8ef06b9469 | 10 | private: |
howanglam3 | 4:aa8ef06b9469 | 11 | int wheel_num; |
howanglam3 | 4:aa8ef06b9469 | 12 | |
howanglam3 | 4:aa8ef06b9469 | 13 | vector<double> vel; |
howanglam3 | 4:aa8ef06b9469 | 14 | vector<double> rpm; |
howanglam3 | 4:aa8ef06b9469 | 15 | vector<double> pwm; |
howanglam3 | 4:aa8ef06b9469 | 16 | |
howanglam3 | 4:aa8ef06b9469 | 17 | public: |
howanglam3 | 4:aa8ef06b9469 | 18 | // Initialize Omniwheel |
howanglam3 | 4:aa8ef06b9469 | 19 | OmniWheel(); |
howanglam3 | 4:aa8ef06b9469 | 20 | virtual ~OmniWheel(); |
howanglam3 | 4:aa8ef06b9469 | 21 | // Function |
howanglam3 | 4:aa8ef06b9469 | 22 | void clear(); |
howanglam3 | 4:aa8ef06b9469 | 23 | // -> Getter |
howanglam3 | 4:aa8ef06b9469 | 24 | int getWheelNum(); |
howanglam3 | 4:aa8ef06b9469 | 25 | vector<double> getVel(); |
howanglam3 | 4:aa8ef06b9469 | 26 | vector<double> getRpm(); |
howanglam3 | 4:aa8ef06b9469 | 27 | vector<double> getPwm(); |
howanglam3 | 4:aa8ef06b9469 | 28 | // -> Setter |
howanglam3 | 4:aa8ef06b9469 | 29 | void setWheelNum(int _wheel_num); |
howanglam3 | 4:aa8ef06b9469 | 30 | void setVel(double _vel); |
howanglam3 | 4:aa8ef06b9469 | 31 | void setRpm(double _rpm); |
howanglam3 | 4:aa8ef06b9469 | 32 | void setPwm(double _pwm); |
howanglam3 | 4:aa8ef06b9469 | 33 | }; |
howanglam3 | 4:aa8ef06b9469 | 34 | |
howanglam3 | 4:aa8ef06b9469 | 35 | #endif |