main.cpp

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#include <../snippets/Motor.h>
#include <SteerDrive.h>
#include <mbed.h>
 
#include <array>
 
using namespace rct;
 
Motor motors[4] = {{D8, D9}, {D10, D11}, {D12, D13}, {D14, D15}};
PwmOut servo[4] = {D4, D5, D6, D7};
SteerDrive<4> steer{[](std::array<std::complex<float>, 4> cmp) {
  for(int i = 0; i < 4; ++i) {
    motors[i] = abs(cmp[i]);
    servo[i] = arg(cmp[i]);
  }
}};
 
int main() {
  // put your setup code here, to run once:
  while(1) {
    // put your main code here, to run repeatedly:
    Velocity vel = {0, 0.5, 0};
    steer.move(vel);
  }
}