Diff: Motor.h

Revision:

0:772b2085fe23

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Motor.h	Thu Oct 18 09:57:12 2018 +0000
@@ -0,0 +1,35 @@
+#include "mbed.h"
+
+class Motor
+{
+public:
+
+    Motor::Motor(PinName p01,PinName p10,PinName p02,PinName p20,PinName p03,PinName p30,PinName p04,PinName p40);
+    
+    /*******************************************/
+    /*初期設定(1周期を引数に取る)*/
+    /******************************************/
+    void setPwmPeriod(float hz);
+    
+    /****************************************************/
+    /*モーターを動かす*/
+    /****************************************************/
+    void setPower(float a,float b, float c, float d);
+    
+    //*********************************************************************************/////////
+    ///////モーター制御θ(degree)に進行方向,powerにPWMの値(0～100),修正値をmodに代入,右回転基準//////////
+    //********************************************************************************://///////
+    void omni4Wheels(int degree,int power,int mod);
+    void omni3Wheels(int degree,int power,int mod);
+
+private:
+    PwmOut _p01;
+    PwmOut _p10;
+    PwmOut _p02; 
+    PwmOut _p20;
+    PwmOut _p03;
+    PwmOut _p30;
+    PwmOut _p04;
+    PwmOut _p40;
+    const float Pi = 3.14159265; 
+};
\ No newline at end of file