tarou yamada / Steering

Dependencies:   SteeringTire

Dependents:   OBROT_ALL

Steering.h@0:0bac1fed0273, 2015-08-15 (annotated)

Committer:
inst
Date:
Sat Aug 15 13:31:39 2015 +0000
Revision:
0:0bac1fed0273
Child:
1:4b719f80e9c4
new;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
inst 0:0bac1fed0273 1 #ifndef INCLUDED_STEERING_H
inst 0:0bac1fed0273 2 #define INCLUDED_STEERING_H
inst 0:0bac1fed0273 3
inst 0:0bac1fed0273 4 #include "Command.h"
inst 0:0bac1fed0273 5
inst 0:0bac1fed0273 6 class XBee;
inst 0:0bac1fed0273 7 class I2CMotor;
inst 0:0bac1fed0273 8 class I2CServo;
inst 0:0bac1fed0273 9
inst 0:0bac1fed0273 10 class Steering{
inst 0:0bac1fed0273 11 public:
inst 0:0bac1fed0273 12 Steering( I2CMotor** t, I2CServo** s, XBee* xbee );
inst 0:0bac1fed0273 13 ~Steering();
inst 0:0bac1fed0273 14
inst 0:0bac1fed0273 15 void update( Command c );
inst 0:0bac1fed0273 16
inst 0:0bac1fed0273 17 private:
inst 0:0bac1fed0273 18 void updateMove( Command command );
inst 0:0bac1fed0273 19 void updateAbsRoll( Command command );
inst 0:0bac1fed0273 20 void updateRoll( Command command );
inst 0:0bac1fed0273 21 void updateStop( Command command );
inst 0:0bac1fed0273 22 void updateWaitServo( Command command );
inst 0:0bac1fed0273 23
inst 0:0bac1fed0273 24 void setServoPositionByActionType( Command::ActionType action, Command command );
inst 0:0bac1fed0273 25
inst 0:0bac1fed0273 26 static const int mNumOfTire;
inst 0:0bac1fed0273 27 static const float mAllowableError;
inst 0:0bac1fed0273 28 static const float mStoppingMoveAngle;
inst 0:0bac1fed0273 29 static const float mRollTirePosition[];
inst 0:0bac1fed0273 30
inst 0:0bac1fed0273 31 float mOffsetHeadingAngle;
inst 0:0bac1fed0273 32
inst 0:0bac1fed0273 33 float mMoveDirection_rad;
inst 0:0bac1fed0273 34
inst 0:0bac1fed0273 35 I2CMotor** mTire;
inst 0:0bac1fed0273 36 I2CServo** mServo;
inst 0:0bac1fed0273 37 XBee* mXBee;
inst 0:0bac1fed0273 38
inst 0:0bac1fed0273 39 Command::ActionType mActionType;
inst 0:0bac1fed0273 40 Command::ActionType mNextActionType;
inst 0:0bac1fed0273 41 };
inst 0:0bac1fed0273 42
inst 0:0bac1fed0273 43 #endif