NagaokaRoboticsClub_mbedTeam
/
KANI2017v2
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Dependencies: 2017NHKpin_config mbed FEP HMC6352 MotorDriverController PID QEI omni
classDiagram.pu@23:98746361f827, 2017-09-05 (annotated)
- Committer:
- uchitake
- Date:
- Tue Sep 05 12:02:47 2017 +0900
- Revision:
- 23:98746361f827
- Parent:
- 20:1c52f8719445
remove WheelUnit
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| uchitake |
20:1c52f8719445 | 1 | @startuml |
| uchitake |
20:1c52f8719445 | 2 | |
| uchitake |
20:1c52f8719445 | 3 | class Bot { |
| uchitake |
20:1c52f8719445 | 4 | +Bot() |
| uchitake |
20:1c52f8719445 | 5 | +confirmAll() |
| uchitake |
20:1c52f8719445 | 6 | +controllDrive() |
| uchitake |
20:1c52f8719445 | 7 | +controllMech() |
| uchitake |
20:1c52f8719445 | 8 | +calibrate() |
| uchitake |
20:1c52f8719445 | 9 | |
| uchitake |
20:1c52f8719445 | 10 | ~pad |
| uchitake |
20:1c52f8719445 | 11 | ~motor |
| uchitake |
20:1c52f8719445 | 12 | -suc |
| uchitake |
20:1c52f8719445 | 13 | } |
| uchitake |
20:1c52f8719445 | 14 | |
| uchitake |
20:1c52f8719445 | 15 | class Controller { |
| uchitake |
20:1c52f8719445 | 16 | +Controller() |
| uchitake |
20:1c52f8719445 | 17 | +receiveState() |
| uchitake |
20:1c52f8719445 | 18 | +getButton1() |
| uchitake |
20:1c52f8719445 | 19 | +getButton2() |
| uchitake |
20:1c52f8719445 | 20 | +getStick() |
| uchitake |
20:1c52f8719445 | 21 | +getRadian() |
| uchitake |
20:1c52f8719445 | 22 | +getNorm() |
| uchitake |
20:1c52f8719445 | 23 | |
| uchitake |
20:1c52f8719445 | 24 | -setStick() |
| uchitake |
20:1c52f8719445 | 25 | -data[6] |
| uchitake |
20:1c52f8719445 | 26 | -fepTemp |
| uchitake |
20:1c52f8719445 | 27 | |
| uchitake |
20:1c52f8719445 | 28 | #button1[7] |
| uchitake |
20:1c52f8719445 | 29 | #button2[6] |
| uchitake |
20:1c52f8719445 | 30 | #stick[4] |
| uchitake |
20:1c52f8719445 | 31 | #radian[2] |
| uchitake |
20:1c52f8719445 | 32 | #norm[2] |
| uchitake |
20:1c52f8719445 | 33 | } |
| uchitake |
20:1c52f8719445 | 34 | |
| uchitake |
20:1c52f8719445 | 35 | class MotorDriver { |
| uchitake |
20:1c52f8719445 | 36 | +MotorDriver() |
| uchitake |
20:1c52f8719445 | 37 | +moveSlider() |
| uchitake |
20:1c52f8719445 | 38 | +destroy() |
| uchitake |
20:1c52f8719445 | 39 | +swing() |
| uchitake |
20:1c52f8719445 | 40 | +shakeHead() |
| uchitake |
20:1c52f8719445 | 41 | +release() |
| uchitake |
20:1c52f8719445 | 42 | +goXY() |
| uchitake |
20:1c52f8719445 | 43 | +goCircular() |
| uchitake |
20:1c52f8719445 | 44 | |
| uchitake |
20:1c52f8719445 | 45 | ~arm |
| uchitake |
20:1c52f8719445 | 46 | ~quadOmni |
| uchitake |
20:1c52f8719445 | 47 | ~solenoid |
| uchitake |
20:1c52f8719445 | 48 | } |
| uchitake |
20:1c52f8719445 | 49 | |
| uchitake |
20:1c52f8719445 | 50 | class PIDC { |
| uchitake |
20:1c52f8719445 | 51 | +PIDC() |
| uchitake |
20:1c52f8719445 | 52 | +confirm() |
| uchitake |
20:1c52f8719445 | 53 | +getCo() |
| uchitake |
20:1c52f8719445 | 54 | +calibration() |
| uchitake |
20:1c52f8719445 | 55 | |
| uchitake |
20:1c52f8719445 | 56 | -updateOutput() |
| uchitake |
20:1c52f8719445 | 57 | -rawDegree |
| uchitake |
20:1c52f8719445 | 58 | -offSetDegree |
| uchitake |
20:1c52f8719445 | 59 | -turnOverNumber |
| uchitake |
20:1c52f8719445 | 60 | -beforeDegree |
| uchitake |
20:1c52f8719445 | 61 | |
| uchitake |
20:1c52f8719445 | 62 | #co |
| uchitake |
20:1c52f8719445 | 63 | #processValue |
| uchitake |
20:1c52f8719445 | 64 | #initDegree |
| uchitake |
20:1c52f8719445 | 65 | } |
| uchitake |
20:1c52f8719445 | 66 | |
| uchitake |
20:1c52f8719445 | 67 | class Arm { |
| uchitake |
20:1c52f8719445 | 68 | +Arm() |
| uchitake |
20:1c52f8719445 | 69 | +isPushed() |
| uchitake |
20:1c52f8719445 | 70 | +isResetted() |
| uchitake |
20:1c52f8719445 | 71 | +getHeight() |
| uchitake |
20:1c52f8719445 | 72 | |
| uchitake |
20:1c52f8719445 | 73 | -resetHeight() |
| uchitake |
20:1c52f8719445 | 74 | ~ limitSwitch |
| uchitake |
20:1c52f8719445 | 75 | |
| uchitake |
20:1c52f8719445 | 76 | #heightResetFlag |
| uchitake |
20:1c52f8719445 | 77 | } |
| uchitake |
20:1c52f8719445 | 78 | |
| uchitake |
20:1c52f8719445 | 79 | class WheelUnit { |
| uchitake |
20:1c52f8719445 | 80 | +WheelUnit() |
| uchitake |
20:1c52f8719445 | 81 | } |
| uchitake |
20:1c52f8719445 | 82 | |
| uchitake |
20:1c52f8719445 | 83 | object pin_config |
| uchitake |
20:1c52f8719445 | 84 | object FEP |
| uchitake |
20:1c52f8719445 | 85 | object HMC6352 |
| uchitake |
20:1c52f8719445 | 86 | object MDC |
| uchitake |
20:1c52f8719445 | 87 | object Omni |
| uchitake |
20:1c52f8719445 | 88 | object PID |
| uchitake |
20:1c52f8719445 | 89 | object QEI |
| uchitake |
20:1c52f8719445 | 90 | |
| uchitake |
20:1c52f8719445 | 91 | Bot o.. Controller |
| uchitake |
20:1c52f8719445 | 92 | Bot o.. MotorDriver |
| uchitake |
20:1c52f8719445 | 93 | Bot o.. PIDC |
| uchitake |
20:1c52f8719445 | 94 | |
| uchitake |
20:1c52f8719445 | 95 | MotorDriver <-. Arm |
| uchitake |
20:1c52f8719445 | 96 | MotorDriver <-. WheelUnit |
| uchitake |
20:1c52f8719445 | 97 | |
| uchitake |
20:1c52f8719445 | 98 | Bot .right. pin_config |
| uchitake |
20:1c52f8719445 | 99 | |
| uchitake |
20:1c52f8719445 | 100 | Controller . FEP |
| uchitake |
20:1c52f8719445 | 101 | MotorDriver . MDC |
| uchitake |
20:1c52f8719445 | 102 | WheelUnit . Omni |
| uchitake |
20:1c52f8719445 | 103 | PIDC .. PID |
| uchitake |
20:1c52f8719445 | 104 | PIDC .. HMC6352 |
| uchitake |
20:1c52f8719445 | 105 | Arm . QEI |
| uchitake |
20:1c52f8719445 | 106 | |
| uchitake |
20:1c52f8719445 | 107 | @enduml |