NHK2017Ateamかにろぼ
Dependencies: 2017NHKpin_config mbed FEP HMC6352 MotorDriverController PID QEI omni
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bot/bot.cpp@17:6f52f4b1086a, 2017-08-30 (annotated)
- Committer:
- uchitake
- Date:
- Wed Aug 30 17:14:11 2017 +0900
- Revision:
- 17:6f52f4b1086a
- Parent:
- 16:86958857c739
- Child:
- 19:3a62cbc6fee9
cancel motor class inheritance
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
UCHITAKE | 0:757e9800c103 | 1 | #include "bot.h" |
UCHITAKE | 0:757e9800c103 | 2 | |
uchitake |
17:6f52f4b1086a | 3 | Bot::Bot() : |
uchitake |
17:6f52f4b1086a | 4 | PIDC(), pad(XBee1TX, XBee1RX, ADDR), motor(MDSDA, MDSCL, solenoidPin) |
UCHITAKE | 0:757e9800c103 | 5 | { |
UCHITAKE | 1:269914e0aa07 | 6 | } |
UCHITAKE | 1:269914e0aa07 | 7 | |
UCHITAKE | 1:269914e0aa07 | 8 | void Bot::confirmAll() |
UCHITAKE | 1:269914e0aa07 | 9 | { |
uchitake |
16:86958857c739 | 10 | pad.receiveState(); |
uchitake |
15:9a2dce34b660 | 11 | PIDC::confirm(); |
uchitake |
16:86958857c739 | 12 | if(pad.getNorm(1) > 0.5) PIDC::setSetPoint(pad.getRadian(1) * (180.0 / M_PI)); |
UCHITAKE | 1:269914e0aa07 | 13 | } |
UCHITAKE | 1:269914e0aa07 | 14 | |
UCHITAKE | 1:269914e0aa07 | 15 | void Bot::controllDrive() |
UCHITAKE | 1:269914e0aa07 | 16 | { |
uchitake |
17:6f52f4b1086a | 17 | motor.goXY(pad.getStick(0),pad.getStick(1), PIDC::co); |
UCHITAKE | 1:269914e0aa07 | 18 | } |
UCHITAKE | 1:269914e0aa07 | 19 | |
UCHITAKE | 1:269914e0aa07 | 20 | void Bot::controllMech() |
UCHITAKE | 1:269914e0aa07 | 21 | { |
uchitake |
17:6f52f4b1086a | 22 | if(!pad.getButton1(0)) motor.moveSlider(ARM_MAX_SPEED); |
uchitake |
17:6f52f4b1086a | 23 | if(!pad.getButton1(1)) motor.moveSlider(-ARM_MAX_SPEED); |
uchitake |
17:6f52f4b1086a | 24 | if(pad.getButton1(0) && pad.getButton1(1)) motor.moveSlider(0); |
uchitake |
15:9a2dce34b660 | 25 | |
uchitake |
17:6f52f4b1086a | 26 | if(!pad.getButton1(3)) motor.shakeHead(ARM_MAX_SPEED); |
uchitake |
17:6f52f4b1086a | 27 | if(!pad.getButton1(4)) motor.shakeHead(-ARM_MAX_SPEED); |
uchitake |
17:6f52f4b1086a | 28 | if(pad.getButton1(3) && pad.getButton1(4)) motor.shakeHead(0); |
UCHITAKE | 1:269914e0aa07 | 29 | |
uchitake |
17:6f52f4b1086a | 30 | if(!pad.getButton1(5)) motor.swing(ARM_MAX_SPEED); |
uchitake |
17:6f52f4b1086a | 31 | if(!pad.getButton1(6)) motor.swing(-ARM_MAX_SPEED); |
uchitake |
17:6f52f4b1086a | 32 | if(pad.getButton1(5) && pad.getButton1(6)) motor.swing(0); |
uchitake |
15:9a2dce34b660 | 33 | |
uchitake |
16:86958857c739 | 34 | if(!pad.getButton1(2)) { |
uchitake |
17:6f52f4b1086a | 35 | motor.destroy(DESTROY_MAX_SPEED); |
UCHITAKE | 1:269914e0aa07 | 36 | } else { |
uchitake |
17:6f52f4b1086a | 37 | motor.destroy(0); |
UCHITAKE | 1:269914e0aa07 | 38 | } |
uchitake |
15:9a2dce34b660 | 39 | |
uchitake |
17:6f52f4b1086a | 40 | if(!pad.getButton2(0)) motor.release(); |
uchitake |
15:9a2dce34b660 | 41 | } |