test
Dependencies: mbed ros_lib_kinetic nhk19mr2_can_info splitData SerialHalfDuplex_HM
Diff: OneLeg/OneLeg.h
- Revision:
- 27:79b4b932a6dd
- Parent:
- 19:1adc7302cfd9
--- a/OneLeg/OneLeg.h Fri Feb 22 05:20:28 2019 +0000 +++ b/OneLeg/OneLeg.h Wed Feb 27 01:24:00 2019 +0000 @@ -3,22 +3,22 @@ ///足先の座標を保存するクラス。x,yやサーボの角度の保存を行う。他の足を考慮した処理は別のクラスに任せる。 class OneLeg { - float rad_[2]; //足についてるサーボの目標角度。 - float x_m_; - float y_m_; - float between_servo_half_m_; - float leglength1_[2]; - float leglength2_[2]; - void SetRad(float rad, int servo_num); + float rad_[2]; //足についてるサーボの目標角度。 + float x_m_; + float y_m_; + float between_servo_half_m_; + float leglength1_[2]; + float leglength2_[2]; + void SetRad(float rad, int servo_num); - public: - OneLeg(float between_servo_half_m, float leglength1[2], float leglength2[2]); - void MoveServo(int servo_num); - float GetRad(int servo_num); - float GetX_m(); - float GetY_m(); - void SetXY_m(float x_m, float y_m); +public: + OneLeg(){}; + OneLeg(float between_servo_half_m, float leglength1[2], float leglength2[2]); + void MoveServo(int servo_num); + float GetRad(int servo_num); + float GetX_m(); + float GetY_m(); + int SetXY_m(float x_m, float y_m); }; - #endif \ No newline at end of file