tarou yamada / Steering

Dependencies:   SteeringTire

Dependents:   OBROT_ALL

Steering.h@1:4b719f80e9c4, 2015-08-21 (annotated)

Committer:
inst
Date:
Fri Aug 21 04:52:10 2015 +0000
Revision:
1:4b719f80e9c4
Parent:
0:0bac1fed0273
Child:
2:8be8699c5afd
y evol

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 1:4b719f80e9c4 25 void setServoPositionWhenMove( Command command );
inst 1:4b719f80e9c4 26 void setServoPositionWhenRoll();
inst 1:4b719f80e9c4 27 void setServoPositionWhenStop();
inst 0:0bac1fed0273 28
inst 0:0bac1fed0273 29 static const int mNumOfTire;
inst 0:0bac1fed0273 30 static const float mAllowableError;
inst 0:0bac1fed0273 31 static const float mStoppingMoveAngle;
inst 0:0bac1fed0273 32 static const float mRollTirePosition[];
inst 0:0bac1fed0273 33
inst 0:0bac1fed0273 34 float mOffsetHeadingAngle;
inst 0:0bac1fed0273 35
inst 0:0bac1fed0273 36 float mMoveDirection_rad;
inst 0:0bac1fed0273 37
inst 0:0bac1fed0273 38 I2CMotor** mTire;
inst 0:0bac1fed0273 39 I2CServo** mServo;
inst 0:0bac1fed0273 40 XBee* mXBee;
inst 0:0bac1fed0273 41
inst 0:0bac1fed0273 42 Command::ActionType mActionType;
inst 0:0bac1fed0273 43 Command::ActionType mNextActionType;
inst 0:0bac1fed0273 44 };
inst 0:0bac1fed0273 45
inst 0:0bac1fed0273 46 #endif