NHK2017Ateamかにろぼ
Dependencies: 2017NHKpin_config mbed FEP HMC6352 MotorDriverController PID QEI omni
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bot/bot.h@23:98746361f827, 2017-09-05 (annotated)
- Committer:
- uchitake
- Date:
- Tue Sep 05 12:02:47 2017 +0900
- Revision:
- 23:98746361f827
- Parent:
- 19:3a62cbc6fee9
remove WheelUnit
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
UCHITAKE | 3:d25e7fb07ed2 | 1 | /** |
UCHITAKE | 3:d25e7fb07ed2 | 2 | * @file bot.h |
UCHITAKE | 4:bb3bb8f6fea4 | 3 | * @brief ロボットのクラス |
UCHITAKE | 3:d25e7fb07ed2 | 4 | */ |
UCHITAKE | 0:757e9800c103 | 5 | #ifndef BOT_H |
UCHITAKE | 0:757e9800c103 | 6 | #define BOT_H |
UCHITAKE | 0:757e9800c103 | 7 | |
UCHITAKE | 0:757e9800c103 | 8 | #include "mbed.h" |
UCHITAKE | 0:757e9800c103 | 9 | #include "pin_config.h" |
UCHITAKE | 0:757e9800c103 | 10 | #include "motor_driver.h" |
UCHITAKE | 0:757e9800c103 | 11 | #include "controller.h" |
UCHITAKE | 2:ea151e05033a | 12 | #include "PID_controller.h" |
UCHITAKE | 0:757e9800c103 | 13 | |
UCHITAKE | 1:269914e0aa07 | 14 | #define ARM_MAX_SPEED 1 |
UCHITAKE | 1:269914e0aa07 | 15 | #define DESTROY_MAX_SPEED 1 |
UCHITAKE | 1:269914e0aa07 | 16 | |
UCHITAKE | 3:d25e7fb07ed2 | 17 | /** |
UCHITAKE | 3:d25e7fb07ed2 | 18 | * @brief ロボットのクラス |
UCHITAKE | 3:d25e7fb07ed2 | 19 | */ |
uchitake |
17:6f52f4b1086a | 20 | class Bot : public PIDC |
UCHITAKE | 1:269914e0aa07 | 21 | { |
UCHITAKE | 0:757e9800c103 | 22 | public : |
UCHITAKE | 3:d25e7fb07ed2 | 23 | /** |
UCHITAKE | 3:d25e7fb07ed2 | 24 | * @brief コンストラクタ |
UCHITAKE | 3:d25e7fb07ed2 | 25 | */ |
UCHITAKE | 0:757e9800c103 | 26 | Bot(); |
UCHITAKE | 1:269914e0aa07 | 27 | |
UCHITAKE | 3:d25e7fb07ed2 | 28 | /** |
UCHITAKE | 3:d25e7fb07ed2 | 29 | * @brief センサなどの値を更新 |
UCHITAKE | 3:d25e7fb07ed2 | 30 | */ |
UCHITAKE | 1:269914e0aa07 | 31 | void confirmAll(); |
uchitake |
16:86958857c739 | 32 | |
UCHITAKE | 3:d25e7fb07ed2 | 33 | /** |
UCHITAKE | 3:d25e7fb07ed2 | 34 | * @brief 足回りの制御 |
UCHITAKE | 3:d25e7fb07ed2 | 35 | */ |
UCHITAKE | 1:269914e0aa07 | 36 | void controllDrive(); |
uchitake |
16:86958857c739 | 37 | |
UCHITAKE | 3:d25e7fb07ed2 | 38 | /** |
UCHITAKE | 3:d25e7fb07ed2 | 39 | * @brief 機構部の制御 |
UCHITAKE | 3:d25e7fb07ed2 | 40 | */ |
UCHITAKE | 1:269914e0aa07 | 41 | void controllMech(); |
UCHITAKE | 19:3a62cbc6fee9 | 42 | |
UCHITAKE | 19:3a62cbc6fee9 | 43 | void calibrate(); |
uchitake |
16:86958857c739 | 44 | |
uchitake |
16:86958857c739 | 45 | private : |
uchitake |
16:86958857c739 | 46 | Controller pad; |
uchitake |
17:6f52f4b1086a | 47 | MotorDriver motor; |
UCHITAKE | 19:3a62cbc6fee9 | 48 | bool suc; |
UCHITAKE | 0:757e9800c103 | 49 | }; |
UCHITAKE | 0:757e9800c103 | 50 | |
uchitake |
16:86958857c739 | 51 | #endif//BOT_H |