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

Mecanum.h

Committer:
yuki17100
Date:
2018-09-04
Revision:
3:9c3f2662974e
Parent:
0:62707e16531a

File content as of revision 3:9c3f2662974e:

#ifndef MECANUM_H
#define MECANUM_H

#include "mbed.h"
#include "RoboClaw.h"

#define ADR_MD1 128
#define ADR_MD2 129

#define PIN_MD p13

#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