John Lam / Mbed 2 deprecated rosserial_mbed_carbase

carbase

Dependencies:   mbed mbed-rtos ros_lib_melodic

OmniWheel.h@9:bfd88f814eec, 2021-02-25 (annotated)

Committer:
howanglam3
Date:
Thu Feb 25 05:54:25 2021 +0000
Revision:
9:bfd88f814eec
Parent:
4:aa8ef06b9469 
finish thread

Who changed what in which revision?

UserRevisionLine numberNew 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