スネーク
Motor.h
- Committer:
- tajiri1999
- Date:
- 2018-10-18
- Revision:
- 0:772b2085fe23
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; };