added serial up, down, left and right control
Fork of Robot_a_cables_v3_5 by
rac.h
- Committer:
- protongamer
- Date:
- 2018-05-28
- Revision:
- 10:fb3542f3c5e6
File content as of revision 10:fb3542f3c5e6:
#ifndef RAC_H #define RAC_H class RAC{ public: void readButtons(uint8_t SWX, uint8_t SWY, uint8_t BPO); void setVelocity(double velXin, double velYin, double centerRef, bool t_mode); void readPosition(double *cX, double *cY, bool *t_mode); void readVelocity(double *rvx, double *rvy); void send(int id, char octet_emis[], char RouD, char longueur ); private: uint8_t _SWX, _SWY, _BPO; int _x, _y, _ctr_x, _ctr_y; float _VX, _VY; long int _VM_L, _VM_R; char _command[8]; double _dy, _dx;//coordinates values when origin is done //these positions are in counters int32_t _p1, _p2; //motors positions int32_t _p_actual, _p_actual2, _p_pom, _p_pom2; //p_actual position read by can, p_pom position done when origin is made int32_t _lx, _l1, _l2; double _rvx, _rvy; }; #endif RAC_H