forked from logzhan/RobotHardware-UESTC
22 lines
427 B
C
22 lines
427 B
C
|
#ifndef PIBOT_JOYSTICK_H_
|
||
|
|
#define PIBOT_JOYSTICK_H_
|
||
|
|
|
||
|
|
#include "pstwo.h" //for v1.6
|
||
|
|
|
||
|
|
class Joystick
|
||
|
|
{
|
||
|
|
public:
|
||
|
|
Joystick();
|
||
|
|
bool init();
|
||
|
|
|
||
|
|
void test();
|
||
|
|
bool check(short& liner_x, short liner_y, short& angular_z);
|
||
|
|
private:
|
||
|
|
bool holonomic_check(short& liner_x, short liner_y, short& angular_z);
|
||
|
|
bool nonholonomic_check(short& liner_x, short liner_y, short& angular_z);
|
||
|
|
private:
|
||
|
|
int error;
|
||
|
|
};
|
||
|
|
|
||
|
|
#endif
|