岡本 陸 / Mbed 2 deprecated 0311

test

Dependencies:   mbed ros_lib_kinetic nhk19mr2_can_info splitData SerialHalfDuplex_HM

OneLeg/OneLeg.h@11:e81425872740, 2019-02-11 (annotated)

Committer:
shimizuta
Date:
Mon Feb 11 12:56:00 2019 +0000
Revision:
11:e81425872740
Child:
13:e7ecdb20665a
ver2

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
shimizuta 11:e81425872740 4
shimizuta 11:e81425872740 5 ///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 6 class OneLeg
shimizuta 11:e81425872740 7 {
shimizuta 11:e81425872740 8 float rad_[2]; //足についてるサーボの目標角度。
shimizuta 11:e81425872740 9 float x_m_;
shimizuta 11:e81425872740 10 float y_m_;
shimizuta 11:e81425872740 11 float between_servo_half_m_;
shimizuta 11:e81425872740 12 float leglength1_;
shimizuta 11:e81425872740 13 float leglength2_;
shimizuta 11:e81425872740 14 void CalServoRad(float x_m, float y_m);
shimizuta 11:e81425872740 15
shimizuta 11:e81425872740 16 public:
shimizuta 11:e81425872740 17 OneLeg(float between_servo_half_m,
shimizuta 11:e81425872740 18 float leglength1, float leglength2);
shimizuta 11:e81425872740 19 void MoveServo(int servo_num);
shimizuta 11:e81425872740 20 void SetRad(float rad, int servo_num);
shimizuta 11:e81425872740 21 float GetRad(int servo_num);
shimizuta 11:e81425872740 22 float GetX_m();
shimizuta 11:e81425872740 23 float GetY_m();
shimizuta 11:e81425872740 24 void SetXY_m(float x_m, float y_m);
shimizuta 11:e81425872740 25 };
shimizuta 11:e81425872740 26
shimizuta 11:e81425872740 27
shimizuta 11:e81425872740 28 #endif