NagaokaRoboticsClub_mbedTeam / Mbed 2 deprecated NHK2017_octopus

NHK2017 octopus robot

Dependencies:   2017NHKpin_config mbed FEP ikarashiMDC PID jy901 omni HMC6352 omni_wheel

Fork of KANI2017v2 by NagaokaRoboticsClub_mbedTeam

bot/bot.cpp@20:477c5d039e93, 2017-09-05 (annotated)

Committer:
number_key
Date:
Tue Sep 05 01:23:32 2017 +0000
Revision:
20:477c5d039e93
Parent:
18:6f52f4b1086a
Child:
21:9c1061982b16
start

Who changed what in which revision?

UserRevisionLine numberNew contents of line
UCHITAKE 0:757e9800c103 1 #include "bot.h"
UCHITAKE 0:757e9800c103 2
uchitake 18:6f52f4b1086a 3 Bot::Bot() :
number_key 20:477c5d039e93 4 PIDC(), pad1(XBee1TX, XBee1RX, ADDR1), pad2(XBee2TX, XBee2RX, ADDR2), motor(MDSDA, MDSCL)
UCHITAKE 0:757e9800c103 5 {
UCHITAKE 1:269914e0aa07 6 }
UCHITAKE 1:269914e0aa07 7
UCHITAKE 1:269914e0aa07 8 void Bot::confirmAll()
UCHITAKE 1:269914e0aa07 9 {
number_key 20:477c5d039e93 10 pad1.receiveState();
number_key 20:477c5d039e93 11 pad2.receiveState();
uchitake 15:9a2dce34b660 12 PIDC::confirm();
number_key 20:477c5d039e93 13 if(pad1.getNorm(1) > 0.5) PIDC::setSetPoint(pad1.getRadian(1) * (180.0 / M_PI));
UCHITAKE 1:269914e0aa07 14 }
UCHITAKE 1:269914e0aa07 15
UCHITAKE 1:269914e0aa07 16 void Bot::controllDrive()
UCHITAKE 1:269914e0aa07 17 {
number_key 20:477c5d039e93 18 motor.goXY(pad1.getStick(0),pad1.getStick(1), PIDC::co);
UCHITAKE 1:269914e0aa07 19 }
UCHITAKE 1:269914e0aa07 20
UCHITAKE 1:269914e0aa07 21 void Bot::controllMech()
UCHITAKE 1:269914e0aa07 22 {
number_key 20:477c5d039e93 23 if(!pad1.getButton1(0)) motor.moveRightTentacle(TENTACLE_MAX_SPEED);
number_key 20:477c5d039e93 24 if(!pad1.getButton1(1)) motor.moveRightTentacle(-TENTACLE_MAX_SPEED);
number_key 20:477c5d039e93 25 if(pad1.getButton1(0) && pad1.getButton1(1)) motor.moveRightTentacle(0);
number_key 20:477c5d039e93 26
number_key 20:477c5d039e93 27 if(!pad1.getButton1(2)) motor.moveLeftTentacle(TENTACLE_MAX_SPEED);
number_key 20:477c5d039e93 28 if(!pad1.getButton1(3)) motor.moveLeftTentacle(-TENTACLE_MAX_SPEED);
number_key 20:477c5d039e93 29 if(pad1.getButton1(2) && pad1.getButton1(3)) motor.moveLeftTentacle(0);
UCHITAKE 1:269914e0aa07 30
number_key 20:477c5d039e93 31
uchitake 15:9a2dce34b660 32
uchitake 15:9a2dce34b660 33
uchitake 15:9a2dce34b660 34 }