NagaokaRoboticsClub_mbedTeam / Mbed 2 deprecated KANI2017v2

NHK2017Ateamかにろぼ

Dependencies:   2017NHKpin_config mbed FEP HMC6352 MotorDriverController PID QEI omni

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bot/bot.cpp@23:98746361f827, 2017-09-05 (annotated)

Committer:
uchitake
Date:
Tue Sep 05 12:02:47 2017 +0900
Revision:
23:98746361f827
Parent:
19:3a62cbc6fee9 
remove WheelUnit

Who changed what in which revision?

UserRevisionLine numberNew contents of line
UCHITAKE 0:757e9800c103 1 #include "bot.h"
UCHITAKE 0:757e9800c103 2
uchitake 17:6f52f4b1086a 3 Bot::Bot() :
UCHITAKE 19:3a62cbc6fee9 4 PIDC(), pad(XBee1TX, XBee1RX, ADDR), motor(MDSDA, MDSCL, solenoidPin)
UCHITAKE 0:757e9800c103 5 {
UCHITAKE 19:3a62cbc6fee9 6 motor.goXY(0, 0, 0);
UCHITAKE 19:3a62cbc6fee9 7 motor.moveSlider(0);
UCHITAKE 19:3a62cbc6fee9 8 motor.destroy(0);
UCHITAKE 19:3a62cbc6fee9 9 motor.swing(0);
UCHITAKE 19:3a62cbc6fee9 10 motor.shakeHead(0);
UCHITAKE 1:269914e0aa07 11 }
UCHITAKE 1:269914e0aa07 12
UCHITAKE 1:269914e0aa07 13 void Bot::confirmAll()
UCHITAKE 1:269914e0aa07 14 {
UCHITAKE 19:3a62cbc6fee9 15 suc = pad.receiveState();
uchitake 15:9a2dce34b660 16 PIDC::confirm();
UCHITAKE 19:3a62cbc6fee9 17 if(pad.getNorm(1) > 0.5) PIDC::setSetPoint(pad.getRadian(1) * (180.0 / M_PI) - M_PI / 2.0);
UCHITAKE 19:3a62cbc6fee9 18 if(!suc) {
UCHITAKE 19:3a62cbc6fee9 19 motor.goXY(0, 0, 0);
UCHITAKE 19:3a62cbc6fee9 20 motor.moveSlider(0);
UCHITAKE 19:3a62cbc6fee9 21 motor.destroy(0);
UCHITAKE 19:3a62cbc6fee9 22 motor.swing(0);
UCHITAKE 19:3a62cbc6fee9 23 motor.shakeHead(0);
UCHITAKE 19:3a62cbc6fee9 24 }
UCHITAKE 1:269914e0aa07 25 }
UCHITAKE 1:269914e0aa07 26
UCHITAKE 1:269914e0aa07 27 void Bot::controllDrive()
UCHITAKE 1:269914e0aa07 28 {
UCHITAKE 19:3a62cbc6fee9 29 if(suc) motor.goXY(pad.getStick(0) / 2.0,-pad.getStick(1) / 2.0, PIDC::co);
UCHITAKE 1:269914e0aa07 30 }
UCHITAKE 1:269914e0aa07 31
UCHITAKE 1:269914e0aa07 32 void Bot::controllMech()
UCHITAKE 1:269914e0aa07 33 {
UCHITAKE 19:3a62cbc6fee9 34 if(suc) {
UCHITAKE 19:3a62cbc6fee9 35 // if(!pad.getButton1(0)) motor.moveSlider(ARM_MAX_SPEED);
UCHITAKE 19:3a62cbc6fee9 36 // if(!pad.getButton1(1)) motor.moveSlider(-ARM_MAX_SPEED);
UCHITAKE 19:3a62cbc6fee9 37 // if(pad.getButton1(0) && pad.getButton1(1)) motor.moveSlider(0);
UCHITAKE 19:3a62cbc6fee9 38 //
UCHITAKE 19:3a62cbc6fee9 39 // if(!pad.getButton1(3)) motor.shakeHead(ARM_MAX_SPEED);
UCHITAKE 19:3a62cbc6fee9 40 // if(!pad.getButton1(4)) motor.shakeHead(-ARM_MAX_SPEED);
UCHITAKE 19:3a62cbc6fee9 41 // if(pad.getButton1(3) && pad.getButton1(4)) motor.shakeHead(0);
UCHITAKE 19:3a62cbc6fee9 42 //
UCHITAKE 19:3a62cbc6fee9 43 if(!pad.getButton1(5)) motor.swing(0.2);
UCHITAKE 19:3a62cbc6fee9 44 if(!pad.getButton1(6)) motor.swing(-0.2);
UCHITAKE 19:3a62cbc6fee9 45 if(pad.getButton1(5) && pad.getButton1(6)) motor.swing(0);
UCHITAKE 1:269914e0aa07 46
UCHITAKE 19:3a62cbc6fee9 47 //
UCHITAKE 19:3a62cbc6fee9 48 // if(!pad.getButton1(2)) {
UCHITAKE 19:3a62cbc6fee9 49 // motor.destroy(DESTROY_MAX_SPEED);
UCHITAKE 19:3a62cbc6fee9 50 // } else {
UCHITAKE 19:3a62cbc6fee9 51 // motor.destroy(0);
UCHITAKE 19:3a62cbc6fee9 52 // }
UCHITAKE 19:3a62cbc6fee9 53 //
UCHITAKE 19:3a62cbc6fee9 54 // if(!pad.getButton2(0)) motor.release();
UCHITAKE 19:3a62cbc6fee9 55 }
UCHITAKE 19:3a62cbc6fee9 56 }
uchitake 15:9a2dce34b660 57
UCHITAKE 19:3a62cbc6fee9 58
UCHITAKE 19:3a62cbc6fee9 59 void Bot::calibrate()
UCHITAKE 19:3a62cbc6fee9 60 {
UCHITAKE 19:3a62cbc6fee9 61 if(suc && !pad.getButton2(0) && !pad.getButton2(1) && !pad.getButton2(2) && !pad.getButton2(3)) {
UCHITAKE 19:3a62cbc6fee9 62 PIDC::calibration(HMC6352_ENTER_CALIB);
UCHITAKE 19:3a62cbc6fee9 63 motor.goXY(0, 0, 0.3);
UCHITAKE 19:3a62cbc6fee9 64 wait(2.0);
UCHITAKE 19:3a62cbc6fee9 65 motor.goXY(0, 0, 0);
UCHITAKE 19:3a62cbc6fee9 66 PIDC::calibration(HMC6352_EXIT_CALIB);
UCHITAKE 1:269914e0aa07 67 }
UCHITAKE 19:3a62cbc6fee9 68 }