NHK2017Ateamかにろぼ
Dependencies: 2017NHKpin_config mbed FEP HMC6352 MotorDriverController PID QEI omni
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bot/controller/controller.h
- Committer:
- UCHITAKE
- Date:
- 2017-08-22
- Revision:
- 2:ea151e05033a
- Parent:
- 1:269914e0aa07
- Child:
- 3:d25e7fb07ed2
File content as of revision 2:ea151e05033a:
#ifndef CONTROLLER_H #define CONTROLLER_H #include "mbed.h" #include "pin_config.h" #include <math.h> #include "FEP.h" #define M_PI 3.141592653589793 #define ADDR 000 /** @def * FEP受信成功 */ #define FEP_SUCCESS 0 /** @def * スティック生値を割る数 */ #define STICK_DIVIDE 255.0 /** @def * スティックニュートラルの範囲 */ #define STICK_NEWTRAL 0.1 /** @def * スティックの距離の限界 */ #define STICK_NORM_MAX 1.0 class Controller : public FEP { public : Controller(); void receiveState();//need confirm private : void getStickData(); char data[6]; uint8_t fepTemp; protected : bool Button1[7]; bool Button2[6]; double stick[4]; double degree[2]; double norm[2]; double vector[2]; double vector2[2]; }; #endif//CONTROLLER_H