Diff: Drive/Drive.hpp

Revision:

0:7bc24e8d1591

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Drive/Drive.hpp	Sun May 02 15:01:33 2021 +0000
@@ -0,0 +1,67 @@
+#ifndef Drive_hpp
+#define Drive_hpp
+
+#include "mbed.h"
+#include "serial.h"
+#include "Servo.h"
+
+class Drive : public Rasp{
+    public:
+        Drive(PinName CAN_TX, PinName CAN_RX);
+        void setVelocity();
+        void calcWheelVelocity();
+        void dribble_set();
+        void setMotVel();
+        void initCAN();
+        void can_send();
+        int masuo_send();
+       
+    private:
+        typedef struct {
+            union{
+                signed short Vel_short;
+                struct{
+                    signed short L:8;
+                    signed short H:8;
+                }Vel_char;
+            }Mot0Order;
+    
+            union{
+                signed short Vel_short;
+                struct{
+                    signed short L:8;
+                    signed short H:8;
+                }Vel_char;
+            }Mot1Order;
+    
+            union{
+                signed short Vel_short;
+                struct{
+                    signed short L:8;
+                    signed short H:8;
+                }Vel_char;
+            }Mot2Order;
+    
+            union{
+                signed short Vel_short;
+                struct{
+                    signed short L:8;
+                    signed short H:8;
+                }Vel_char;
+            }Mot3Order;
+    
+        } OrderMotVel;
+
+        OrderMotVel order;
+        
+        Ticker can_Timer;
+        char send_motvel_data[8];
+        CAN canMBED;
+        float M[4];
+        float dribble_power;
+        DigitalOut LED;
+        Servo servo;
+        int count;
+};
+
+#endif
\ No newline at end of file