YUTA WATANABE / wheelUnit

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Show/hide line numbers wheelUnit.cpp Source File

wheelUnit.cpp

00001 #include "wheelUnit.h"
00002 
00003 WheelUnit::WheelUnit(Serial* serial) :
00004     omni(4),
00005     pc(USBTX, USBRX, 115200)
00006 {
00007     md = new ikarashiMDC*[4];
00008     for(int i = 0; i < 4; ++i) md[i] = new ikarashiMDC(2,i,SM,serial);
00009     for(int i = 0; i < 4; ++i) md[i]->braking = true;
00010     for(int i = 0; i < 4; i++) omni.wheel[i].setRadian(PI / 4.0 * (2.0*i+1.0));
00011 }
00012 
00013 void WheelUnit::move(float x,float y,float turnPower)
00014 {
00015     omni.computeXY(x,y,turnPower);
00016     for (int i = 0; i < 4; ++i) wheel[i] = omni.wheel[i];
00017     for (int i = 0; i < 4; ++i) md[i]->setSpeed(wheel[i] * SPEEDRATE);
00018     print = omni.wheel[0];
00019     pc.printf("%f\n\r",print);
00020 }
00021 
00022 void WheelUnit::stop()
00023 {
00024     for (int i = 0; i < 4; ++i) md[i]->setSpeed(0);
00025     pc.printf("0\n\r");
00026 }
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