NHK2017Ateamかにろぼ
Dependencies: 2017NHKpin_config mbed FEP HMC6352 MotorDriverController PID QEI omni
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bot/motor_driver/motor_driver.h@13:0908c3707020, 2017-08-30 (annotated)
- Committer:
- uchitake
- Date:
- Wed Aug 30 14:19:01 2017 +0900
- Revision:
- 13:0908c3707020
- Parent:
- 8:3987aa3d016b
- Child:
- 17:6f52f4b1086a
fic moteor class
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
UCHITAKE | 6:590c9622ecf1 | 1 | /** |
UCHITAKE | 6:590c9622ecf1 | 2 | * @file motor_driver.h |
UCHITAKE | 6:590c9622ecf1 | 3 | * @brief モータ駆動クラス |
UCHITAKE | 6:590c9622ecf1 | 4 | */ |
UCHITAKE | 6:590c9622ecf1 | 5 | #ifndef MOTOR_DRIVER_H |
UCHITAKE | 6:590c9622ecf1 | 6 | #define MOTOR_DRIVER_H |
UCHITAKE | 6:590c9622ecf1 | 7 | |
UCHITAKE | 6:590c9622ecf1 | 8 | #include "mbed.h" |
UCHITAKE | 6:590c9622ecf1 | 9 | #include "pin_config.h" |
UCHITAKE | 6:590c9622ecf1 | 10 | |
UCHITAKE | 6:590c9622ecf1 | 11 | #include "arm_unit.h" |
UCHITAKE | 6:590c9622ecf1 | 12 | #include "wheel_unit.h" |
UCHITAKE | 6:590c9622ecf1 | 13 | #include "MotorDriverController.h" |
UCHITAKE | 6:590c9622ecf1 | 14 | |
UCHITAKE | 6:590c9622ecf1 | 15 | #define WHEEL_MDC_ADDR 7 |
UCHITAKE | 6:590c9622ecf1 | 16 | #define ARM_MDC_ADDR 6 |
UCHITAKE | 6:590c9622ecf1 | 17 | #define SLIDER_NUMBER 0 |
UCHITAKE | 6:590c9622ecf1 | 18 | #define ARM_NUMBER 1 |
uchitake |
8:3987aa3d016b | 19 | #define SWORD_NUMBER 2 |
uchitake |
8:3987aa3d016b | 20 | #define SHAKE_NUMBER 3 |
UCHITAKE | 6:590c9622ecf1 | 21 | |
UCHITAKE | 6:590c9622ecf1 | 22 | /** |
UCHITAKE | 6:590c9622ecf1 | 23 | * @brief モータ駆動クラス |
UCHITAKE | 6:590c9622ecf1 | 24 | */ |
UCHITAKE | 6:590c9622ecf1 | 25 | class MotorDriver : MDC { |
UCHITAKE | 6:590c9622ecf1 | 26 | public : |
UCHITAKE | 6:590c9622ecf1 | 27 | /** |
UCHITAKE | 6:590c9622ecf1 | 28 | * @brief コンストラクタ |
UCHITAKE | 6:590c9622ecf1 | 29 | */ |
UCHITAKE | 6:590c9622ecf1 | 30 | MotorDriver(); |
uchitake |
8:3987aa3d016b | 31 | |
UCHITAKE | 6:590c9622ecf1 | 32 | /** |
UCHITAKE | 6:590c9622ecf1 | 33 | * @brief スライダを動かす |
UCHITAKE | 6:590c9622ecf1 | 34 | */ |
UCHITAKE | 6:590c9622ecf1 | 35 | void moveSlider(float speed); |
uchitake |
8:3987aa3d016b | 36 | |
UCHITAKE | 6:590c9622ecf1 | 37 | /** |
UCHITAKE | 6:590c9622ecf1 | 38 | * @brief ひみつ道具部分を動かす |
UCHITAKE | 6:590c9622ecf1 | 39 | */ |
UCHITAKE | 6:590c9622ecf1 | 40 | void destroy(float speed); |
uchitake |
8:3987aa3d016b | 41 | |
uchitake |
8:3987aa3d016b | 42 | /** |
uchitake |
8:3987aa3d016b | 43 | * @brief 剣を振る |
uchitake |
8:3987aa3d016b | 44 | * @param speed 速度 |
uchitake |
8:3987aa3d016b | 45 | */ |
uchitake |
8:3987aa3d016b | 46 | void swing(float speed); |
uchitake |
8:3987aa3d016b | 47 | |
uchitake |
8:3987aa3d016b | 48 | /** |
uchitake |
13:0908c3707020 | 49 | * @brief ひみつ道具の首振り |
uchitake |
8:3987aa3d016b | 50 | * @param speed 速度 |
uchitake |
8:3987aa3d016b | 51 | */ |
uchitake |
8:3987aa3d016b | 52 | void shakeHead(float speed); |
uchitake |
8:3987aa3d016b | 53 | |
uchitake |
8:3987aa3d016b | 54 | /** |
uchitake |
8:3987aa3d016b | 55 | * @brief 解放機構 |
uchitake |
8:3987aa3d016b | 56 | */ |
uchitake |
8:3987aa3d016b | 57 | void release(); |
uchitake |
8:3987aa3d016b | 58 | |
UCHITAKE | 6:590c9622ecf1 | 59 | /** |
uchitake |
13:0908c3707020 | 60 | * @brief あしまわりを動かす(X, Y) |
UCHITAKE | 6:590c9622ecf1 | 61 | */ |
UCHITAKE | 6:590c9622ecf1 | 62 | void goXY(float X, float Y, float moment); |
uchitake |
13:0908c3707020 | 63 | |
uchitake |
13:0908c3707020 | 64 | /** |
uchitake |
13:0908c3707020 | 65 | * @brief 足回りを動かす(circular) |
uchitake |
13:0908c3707020 | 66 | * @param r 半径 |
uchitake |
13:0908c3707020 | 67 | * @param rad 角度 |
uchitake |
13:0908c3707020 | 68 | * @param moment 回転 |
uchitake |
13:0908c3707020 | 69 | */ |
UCHITAKE | 6:590c9622ecf1 | 70 | void goCircular(float r, float rad, float moment); |
uchitake |
8:3987aa3d016b | 71 | |
UCHITAKE | 6:590c9622ecf1 | 72 | private : |
UCHITAKE | 6:590c9622ecf1 | 73 | Arm arm; |
UCHITAKE | 6:590c9622ecf1 | 74 | WheelUnit quadOmni; |
uchitake |
8:3987aa3d016b | 75 | DigitalOut solenoid; |
UCHITAKE | 6:590c9622ecf1 | 76 | }; |
UCHITAKE | 6:590c9622ecf1 | 77 | |
uchitake |
8:3987aa3d016b | 78 | #endif//MOTOR_DRIVER_H |