岡本 陸
test
Dependencies: mbed ros_lib_kinetic nhk19mr2_can_info splitData SerialHalfDuplex_HM
OneLeg/OneLeg.h@14:d7cb429946f4, 2019-02-12 (annotated)
- Committer:
- shimizuta
- Date:
- Tue Feb 12 12:50:45 2019 +0000
- Revision:
- 14:d7cb429946f4
- Parent:
- 13:e7ecdb20665a
- Child:
- 19:1adc7302cfd9
sorry, there're compile errors
Who changed what in which revision?
| User | Revision | Line number | New 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 | 11:e81425872740 | 10 | float leglength1_; |
| shimizuta | 11:e81425872740 | 11 | float leglength2_; |
| shimizuta | 11:e81425872740 | 12 | void CalServoRad(float x_m, float y_m); |
| yuto17320508 | 13:e7ecdb20665a | 13 | void SetRad(float rad, int servo_num); |
| shimizuta | 11:e81425872740 | 14 | |
| shimizuta | 11:e81425872740 | 15 | public: |
| shimizuta | 11:e81425872740 | 16 | OneLeg(float between_servo_half_m, |
| shimizuta | 11:e81425872740 | 17 | float leglength1, float leglength2); |
| shimizuta | 11:e81425872740 | 18 | void MoveServo(int servo_num); |
| shimizuta | 11:e81425872740 | 19 | float GetRad(int servo_num); |
| shimizuta | 11:e81425872740 | 20 | float GetX_m(); |
| shimizuta | 11:e81425872740 | 21 | float GetY_m(); |
| shimizuta | 11:e81425872740 | 22 | void SetXY_m(float x_m, float y_m); |
| shimizuta | 11:e81425872740 | 23 | }; |
| shimizuta | 11:e81425872740 | 24 | |
| shimizuta | 11:e81425872740 | 25 | |
| shimizuta | 11:e81425872740 | 26 | #endif |