File content as of revision 0:772b2085fe23:

#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; 
};