Ryoga Sato / newMecanumLibrary

newMecanum.hpp

Committer:
surpace0924
Date:
2018-05-28
Revision:
0:ae2c570afbe8

File content as of revision 0:ae2c570afbe8:

#ifndef _NEW_MECANUM_H_
#define _NEW_MECANUM_H_

#include "mbed.h"

#ifndef PI
#define PI 3.141592f
#endif

class newMecanum
{
  public:
    void init(float length, float width);

    void calculate(float vx, float vy, float angularVelocity);

    float getWheelVelocity(short num);

  private:
    float v[4];
    float maxSpeed;
    float rotationCorrection;
};

#endif