Kiko Ishimoto / omuni

卒研

Dependencies:   P_motor T_motor

Fork of omuni by gaku takasawa

omuni.h

Committer:
fujikenac
Date:
2017-10-13
Revision:
2:fe76af2dff4d
Parent:
0:c0f3e14f1ed1
Child:
3:51f47bf405a0

File content as of revision 2:fe76af2dff4d:

#ifndef omuni_H
#define omuni_H
#include "T_motor.h"
#include "P_motor.h"
#include "mbed.h"

#define PI 3.14159265359
#define dataNum 5

class omuni{
    private:
        I2C *i2c;
        Ticker tick;
        P_motor m1,m2,m3;
        char RXData[dataNum];
        int8_t map(int8_t in, int8_t inMin, int8_t inMax, int8_t outMin, int8_t outMax);
        
    public:
        omuni(I2C* i2c_,int8_t addr1,int8_t addr2,int8_t addr3, double delta = 0.1);
        void out(char rxdata[dataNum],float L = 0.275);
        void compute_task();
        
};
#endif