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:
- 15:9a2dce34b660
- Parent:
- 5:bc5ba4f070ad
- Child:
- 16:86958857c739
File content as of revision 15:9a2dce34b660:
#include "bot.h" Bot::Bot() : Controller(), MotorDriver(), PIDC() { } void Bot::confirmAll() { Controller::receiveState(); PIDC::confirm(); if(Controller::norm[1] > 0.5) PIDC::setSetPoint(radian[1] * (180.0 / M_PI)); } void Bot::controllDrive() { MotorDriver::goXY(Controller::stick[0],Controller::stick[1], PIDC::co); } void Bot::controllMech() { 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(!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 { MotorDriver::destroy(0); } if(!Controller::button2[0]) MotorDriver::release(); }