Diff: bot/bot.cpp

Revision:

15:9a2dce34b660

Parent:

5:bc5ba4f070ad

Child:

16:86958857c739

--- a/bot/bot.cpp	Wed Aug 30 15:02:24 2017 +0900
+++ b/bot/bot.cpp	Wed Aug 30 15:25:49 2017 +0900
@@ -6,25 +6,35 @@
 
 void Bot::confirmAll()
 {
-    receiveState();
-    confirm();
-    if(vector2[1] > 0.5)setSetPoint(vector2[0]);
+    Controller::receiveState();
+    PIDC::confirm();
+    if(Controller::norm[1] > 0.5) PIDC::setSetPoint(radian[1] * (180.0 / M_PI));
 }
 
 void Bot::controllDrive()
 {
-    goXY(stick[0],stick[1], co);
+    MotorDriver::goXY(Controller::stick[0],Controller::stick[1], PIDC::co);
 }
 
 void Bot::controllMech()
 {
-    if(!Button1[0]) moveSlider(ARM_MAX_SPEED);
-    if(!Button1[1]) moveSlider(-ARM_MAX_SPEED);
-    if(Button1[0] && Button1[1]) moveSlider(0);
+    if(!Controller::button1[0]) MotorDriver::moveSlider(ARM_MAX_SPEED);
+    if(!Controller::button1[1]) MotorDriver::moveSlider(-ARM_MAX_SPEED);
+    if(Controller::button1[0] && Controller::button1[1]) MotorDriver::moveSlider(0);
+
+    if(!Controller::button1[3]) MotorDriver::shakeHead(ARM_MAX_SPEED);
+    if(!Controller::button1[4]) MotorDriver::shakeHead(-ARM_MAX_SPEED);
+    if(Controller::button1[3] && Controller::button1[4]) MotorDriver::shakeHead(0);
 
-    if(!Button1[2]) {
-        destroy(DESTROY_MAX_SPEED);
+    if(!Controller::button1[5]) MotorDriver::swing(ARM_MAX_SPEED);
+    if(!Controller::button1[6]) MotorDriver::swing(-ARM_MAX_SPEED);
+    if(Controller::button1[5] && Controller::button1[6]) MotorDriver::swing(0);
+
+    if(!Controller::button1[2]) {
+        MotorDriver::destroy(DESTROY_MAX_SPEED);
     } else {
-        destroy(0);
+        MotorDriver::destroy(0);
     }
-}
\ No newline at end of file
+
+    if(!Controller::button2[0]) MotorDriver::release();
+}