Diff: gakuBot/gakubot.h

Revision:

0:7822f4172b0c

Child:

2:c501f6845500

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/gakuBot/gakubot.h	Fri Oct 12 04:40:56 2018 +0000
@@ -0,0 +1,162 @@
+#ifndef BOT_H
+#define BOT_H
+
+#include "mbed.h"
+#include "ikarashiMDC.h"
+//#include "controller.h"
+#include "linemiconget.h"
+#include "omni_wheel.h"
+#include "OmniPosition.h"
+#include "PID.h"
+#include "QEI.h"
+#include "position_controller.h"
+#include "solenoid_valve.h"
+#include "petbottleLoading.h"
+#include"fep_kinect.h"
+#include "pin_config.h"
+
+#define loadingParamator 1955
+#define slidorparamotor 1000-127
+
+#define PI 3.141592653589793
+#define ADDR 198
+
+
+//#define angleKP 4.2
+//#define angleKI 0.0
+//#define angleKD 0.0001
+#define angleKP 3.5
+#define angleKI 0.0
+#define angleKD 0.00005
+
+#define fire1KP 10.8
+#define fire1KI 0.095
+#define fire1KD 0.00005
+
+#define fire2KP 10.8
+#define fire2KI 0.095
+#define fire2KD 0.00005
+
+#define XKP 17.0
+#define XIP 0//4.0,9.0
+#define XDP 0.0004
+
+#define YKP 17.0
+#define YIP 0
+#define YDP 0.0004
+
+#define frontKP 0.0
+#define frontKP 0.0 
+#define frontKD 0.0
+
+#define behindKP 0.4 
+#define behindKI 0.0
+#define behindKD 0.00015
+
+#define RATE 0.01
+#define PI 3.14159265
+
+#define  KA  0.95
+
+//#define MOTOR_MODE_STOP      0
+//#define MOTOR_MODE_FORWARD   1
+//#define MOTOR_MODE_BACKWARD  2
+//#define MOTOR_MODE_RIGHT     3
+//#define MOTOR_MODE_LEFT      4
+
+#define table2400X 2133
+#define table2400Y -4755
+#define table1800X 7756
+#define table1500X 6464
+#define table1200X 5160
+#define dash1X      1063
+#define dash1Y      -2113
+#define dash2X      1046
+#define dash2Y      -4618
+#define dash3X      2465
+#define dash3Y      -4609
+
+#define wallmodeY -4300
+#define walldashY -4700
+#define wallslide 0.5
+
+
+
+
+class GakuBot
+{
+public:
+    GakuBot();
+    void botConfirm();
+    void controllerMode1();
+    void controllerMode2();
+    void controllMech1();
+    void controllMech2();
+    void autoMode1();
+    void autoMode2();
+
+
+    void controllMech();
+
+private:
+    DigitalOut led;
+    
+    /*PID系*/
+    PID  fire1Pid, fire2Pid, anglePID, XPid, YPid, distanceFrontPid, distanceBehindPid;
+
+    Serial debugpc;
+    /*モータ系*/
+    OmniWheel omni;
+    DigitalOut RS485control;
+    Serial RS485;
+    ikarashiMDC* wheels[4];
+    ikarashiMDC* fire[2];
+    double firePwm[2];
+    float stick[4], speed[4];
+    
+    /*角度系*/
+    float Output_PID,Output_PID2,nowAngle, ofsetNowAngle, attachAngle;
+    int pullDistance, pullDistanceOfset, nowPals, distanceOfset, distanceOfset2, nowPals2;
+    /*受信系*/
+//    Controller con;
+    bool receiveSuccessed;
+    int mode;
+    OmniPosition getposition;
+    fep_kinect kinect;
+    linemiconget lmicon;
+    /*座標系*/
+    PositionController* conposition;
+    
+    /*タイマー系*/
+    Timer t ,confirmT, pidT;
+    double dt, confirmDt;
+    PortValve valveFire1, valveFire2;
+    Timer pt, fireFrag1time;
+    float pdt;
+    int fireDistance1,fireDistance2 , loadingmode;
+    petbottleLoading loading;
+    int airFlag, sw3flag;
+    float beforeYaw, yawdegree;
+    int yawMode;
+    DigitalIn startSW;
+    float demoX,demoY;
+    int lineCount;
+    int getx, gety;
+    int fireFlag1, fireFlag2;
+    DigitalIn limit1,limit2;
+    double X, Y;
+    double Xlopass, Xlopassb, Ylopass, Ylopassb, targetradians;
+    int Xdemo[5], Ydemo[5], demomode;
+    int movetablemode, firecount, fireFlag, modeFlag;
+    int solenoidValve1is, solenoidValve2is , dpetbotle;
+    float fireMDCPwm[2], piddt;
+    int start_;
+    int suzuki[3];
+    int kabeFlag;
+    int kinectmode, kinectDistance;
+    int kinectFlag, swflag;
+    
+};
+
+
+#endif//BOT_H
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