yuki honma / UnderBody

下半身制御用ライブラリ Odometry...自己位置推定 Mecanum...メカナムホイール用 Bezier...ベジエ曲線 RoboClaw...MD用

Dependents:   TOUTEKI_all_mbed mbed_test_program

Diff: Mecanum.h

Revision:
3:9c3f2662974e
Parent:
0:62707e16531a
--- a/Mecanum.h	Sun Sep 02 11:36:38 2018 +0000
+++ b/Mecanum.h	Tue Sep 04 14:22:13 2018 +0000
@@ -9,18 +9,21 @@
 
 #define PIN_MD p13
 
-#define CMD 10
+#define CMD (10000/1000)
 
 class Mecanum{
 public:
     Mecanum();
     
     void move(double direction, double speed, double revolution);
+    void rectang(double x, double y, double rotation);
     
     RoboClaw MD;
     
 private:
     
+    void command(double (&duty)[4]);
+    
 };
 
 #endif
\ No newline at end of file