Diff: omuni.hpp

Revision:

0:3bd8aecadafc

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/omuni.hpp	Thu Sep 28 10:50:37 2017 +0000
@@ -0,0 +1,41 @@
+#ifndef _omuni_
+#define _omuni_
+
+#include "speed_control.hpp"
+#include "L3GD20_i2c.hpp"
+
+#define THETA_ADDJUST   0.69f
+
+class Omuni
+{
+private:
+    I2C *i2c;
+    l3gd20 *gyro;
+    speed_control *o[3];
+    Timer time, t;
+    double tvx, tvy, tomega; 
+    double vx, vy, omega, theta;
+    double R, d;
+    int addr[3];
+    double v[3];
+    bool f;
+    bool crevx, crevy;
+public:
+    Omuni(I2C *i, TIM_TypeDef *timer_type0, TIM_TypeDef *timer_type1, TIM_TypeDef *timer_type2, size_t pulse_per_revol, double _cy_ms, const int a[3], double _R, double _d);
+    void set_pid(int n, double _kp, double _ki, double _kd);
+    void change_motor_direction(int n, bool _rev);
+    void change_coordinates_direction(bool _crevx, bool _crevy);
+    void set_speed(double vx, double vy);
+    void set_speed(double vx, double vy, double omega);
+    void set_speed(double _vx, double _vy, double _omega, bool _f);
+    void renew_theta();
+    bool renew_speed();
+    void _set_speed();
+    void drive();
+    void reset_theta();
+    double get_theta();
+    double get_vx();
+    double get_vy();
+};
+
+#endif