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@17:64895e83bbbc, 2017-08-30 (annotated)

Committer:
number_key
Date:
Wed Aug 30 08:21:50 2017 +0000
Revision:
17:64895e83bbbc
Parent:
16:86958857c739 
sg

Who changed what in which revision?

UserRevisionLine numberNew contents of line
UCHITAKE 0:757e9800c103 1 #include "bot.h"
UCHITAKE 0:757e9800c103 2
number_key 17:64895e83bbbc 3 Bot::Bot() : MotorDriver(), PIDC(), pad1(XBee1TX, XBee1RX, ADDR1), pad2(XBee2TX, XBee2RX, ADDR2)
UCHITAKE 0:757e9800c103 4 {
UCHITAKE 1:269914e0aa07 5 }
UCHITAKE 1:269914e0aa07 6
UCHITAKE 1:269914e0aa07 7 void Bot::confirmAll()
UCHITAKE 1:269914e0aa07 8 {
number_key 17:64895e83bbbc 9 pad1.receiveState();
number_key 17:64895e83bbbc 10 pad2.receiveState();
uchitake 15:9a2dce34b660 11 PIDC::confirm();
number_key 17:64895e83bbbc 12 if(pad1.getNorm(1) > 0.5) PIDC::setSetPoint(pad1.getRadian(1) * (180.0 / M_PI));
UCHITAKE 1:269914e0aa07 13 }
UCHITAKE 1:269914e0aa07 14
UCHITAKE 1:269914e0aa07 15 void Bot::controllDrive()
UCHITAKE 1:269914e0aa07 16 {
number_key 17:64895e83bbbc 17 MotorDriver::goXY(pad1.getStick(0),pad1.getStick(1), PIDC::co);
UCHITAKE 1:269914e0aa07 18 }
UCHITAKE 1:269914e0aa07 19
UCHITAKE 1:269914e0aa07 20 void Bot::controllMech()
UCHITAKE 1:269914e0aa07 21 {
number_key 17:64895e83bbbc 22 if(!pad2.getButton1(0)) MotorDriver::moveSlider(ARM_MAX_SPEED);
number_key 17:64895e83bbbc 23 if(!pad2.getButton1(1)) MotorDriver::moveSlider(-ARM_MAX_SPEED);
number_key 17:64895e83bbbc 24 if(pad2.getButton1(0) && pad2.getButton1(1)) MotorDriver::moveSlider(0);
uchitake 15:9a2dce34b660 25
number_key 17:64895e83bbbc 26 if(!pad2.getButton1(3)) MotorDriver::shakeHead(ARM_MAX_SPEED);
number_key 17:64895e83bbbc 27 if(!pad2.getButton1(4)) MotorDriver::shakeHead(-ARM_MAX_SPEED);
number_key 17:64895e83bbbc 28 if(pad2.getButton1(3) && pad2.getButton1(4)) MotorDriver::shakeHead(0);
UCHITAKE 1:269914e0aa07 29
number_key 17:64895e83bbbc 30 if(!pad2.getButton1(5)) MotorDriver::swing(ARM_MAX_SPEED);
number_key 17:64895e83bbbc 31 if(!pad2.getButton1(6)) MotorDriver::swing(-ARM_MAX_SPEED);
number_key 17:64895e83bbbc 32 if(pad2.getButton1(5) && pad2.getButton1(6)) MotorDriver::swing(0);
uchitake 15:9a2dce34b660 33
number_key 17:64895e83bbbc 34 if(!pad2.getButton1(2)) {
uchitake 15:9a2dce34b660 35 MotorDriver::destroy(DESTROY_MAX_SPEED);
UCHITAKE 1:269914e0aa07 36 } else {
uchitake 15:9a2dce34b660 37 MotorDriver::destroy(0);
UCHITAKE 1:269914e0aa07 38 }
uchitake 15:9a2dce34b660 39
number_key 17:64895e83bbbc 40 if(!pad2.getButton2(0)) MotorDriver::release();
uchitake 15:9a2dce34b660 41 }