NHK2017Ateamかにろぼ
Dependencies: 2017NHKpin_config mbed FEP HMC6352 MotorDriverController PID QEI omni
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bot/bot.cpp
- Committer:
- uchitake
- Date:
- 2017-08-30
- Revision:
- 16:86958857c739
- Parent:
- 15:9a2dce34b660
- Child:
- 17:6f52f4b1086a
File content as of revision 16:86958857c739:
#include "bot.h" Bot::Bot() : MotorDriver(), PIDC(), pad(XBee1TX, XBee1RX, ADDR) { } void Bot::confirmAll() { pad.receiveState(); PIDC::confirm(); if(pad.getNorm(1) > 0.5) PIDC::setSetPoint(pad.getRadian(1) * (180.0 / M_PI)); } void Bot::controllDrive() { MotorDriver::goXY(pad.getStick(0),pad.getStick(1), PIDC::co); } void Bot::controllMech() { if(!pad.getButton1(0)) MotorDriver::moveSlider(ARM_MAX_SPEED); if(!pad.getButton1(1)) MotorDriver::moveSlider(-ARM_MAX_SPEED); if(pad.getButton1(0) && pad.getButton1(1)) MotorDriver::moveSlider(0); if(!pad.getButton1(3)) MotorDriver::shakeHead(ARM_MAX_SPEED); if(!pad.getButton1(4)) MotorDriver::shakeHead(-ARM_MAX_SPEED); if(pad.getButton1(3) && pad.getButton1(4)) MotorDriver::shakeHead(0); if(!pad.getButton1(5)) MotorDriver::swing(ARM_MAX_SPEED); if(!pad.getButton1(6)) MotorDriver::swing(-ARM_MAX_SPEED); if(pad.getButton1(5) && pad.getButton1(6)) MotorDriver::swing(0); if(!pad.getButton1(2)) { MotorDriver::destroy(DESTROY_MAX_SPEED); } else { MotorDriver::destroy(0); } if(!pad.getButton2(0)) MotorDriver::release(); }