岡本 陸 / Mbed 2 deprecated 0311

test

Dependencies:   mbed ros_lib_kinetic nhk19mr2_can_info splitData SerialHalfDuplex_HM

OneLeg/OneLeg.h@19:1adc7302cfd9, 2019-02-15 (annotated)

Committer:
shimizuta
Date:
Fri Feb 15 03:46:52 2019 +0000
Revision:
19:1adc7302cfd9
Parent:
14:d7cb429946f4
Child:
27:79b4b932a6dd
some change

Who changed what in which revision?

UserRevisionLine numberNew contents of line
shimizuta 11:e81425872740 1 #ifndef INCLUDED_ONELEG_H
shimizuta 11:e81425872740 2 #define INCLUDED_ONELEG_H
shimizuta 11:e81425872740 3 ///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。
shimizuta 11:e81425872740 4 class OneLeg
shimizuta 11:e81425872740 5 {
shimizuta 11:e81425872740 6 float rad_[2]; //足についてるサーボの目標角度。
shimizuta 11:e81425872740 7 float x_m_;
shimizuta 11:e81425872740 8 float y_m_;
shimizuta 11:e81425872740 9 float between_servo_half_m_;
shimizuta 19:1adc7302cfd9 10 float leglength1_[2];
shimizuta 19:1adc7302cfd9 11 float leglength2_[2];
yuto17320508 13:e7ecdb20665a 12 void SetRad(float rad, int servo_num);
shimizuta 11:e81425872740 13
shimizuta 11:e81425872740 14 public:
shimizuta 19:1adc7302cfd9 15 OneLeg(float between_servo_half_m, float leglength1[2], float leglength2[2]);
shimizuta 11:e81425872740 16 void MoveServo(int servo_num);
shimizuta 11:e81425872740 17 float GetRad(int servo_num);
shimizuta 11:e81425872740 18 float GetX_m();
shimizuta 11:e81425872740 19 float GetY_m();
shimizuta 11:e81425872740 20 void SetXY_m(float x_m, float y_m);
shimizuta 11:e81425872740 21 };
shimizuta 11:e81425872740 22
shimizuta 11:e81425872740 23
shimizuta 11:e81425872740 24 #endif