Diff: classDiagram.pu

Revision:

20:1c52f8719445

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/classDiagram.pu	Mon Sep 04 11:35:18 2017 +0900
@@ -0,0 +1,107 @@
+@startuml
+
+class Bot {
+	+Bot()
+	+confirmAll()
+	+controllDrive()
+	+controllMech()
+	+calibrate()
+
+	~pad
+	~motor
+	-suc
+}
+
+class Controller {
+	+Controller()
+	+receiveState()
+	+getButton1()
+	+getButton2()
+	+getStick()
+	+getRadian()
+	+getNorm()
+
+	-setStick()
+	-data[6]
+	-fepTemp
+
+	#button1[7]
+	#button2[6]
+	#stick[4]
+	#radian[2]
+	#norm[2]
+}
+
+class MotorDriver {
+	+MotorDriver()
+	+moveSlider()
+	+destroy()
+	+swing()
+	+shakeHead()
+	+release()
+	+goXY()
+	+goCircular()
+
+	~arm
+	~quadOmni
+	~solenoid
+}
+
+class PIDC {
+	+PIDC()
+	+confirm()
+	+getCo()
+	+calibration()
+
+	-updateOutput()
+	-rawDegree
+	-offSetDegree
+	-turnOverNumber
+	-beforeDegree
+
+	#co
+	#processValue
+	#initDegree
+}
+
+class Arm {
+	+Arm()
+	+isPushed()
+	+isResetted()
+	+getHeight()
+
+	-resetHeight()
+	~ limitSwitch
+
+	#heightResetFlag
+}
+
+class WheelUnit {
+	+WheelUnit()
+}
+
+object pin_config
+object FEP
+object HMC6352
+object MDC
+object Omni
+object PID
+object QEI
+
+Bot o.. Controller
+Bot o.. MotorDriver
+Bot o.. PIDC
+
+MotorDriver <-. Arm
+MotorDriver <-. WheelUnit
+
+Bot .right. pin_config
+
+Controller . FEP
+MotorDriver . MDC
+WheelUnit . Omni
+PIDC .. PID
+PIDC .. HMC6352
+Arm . QEI
+
+@enduml