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@16:86958857c739, 2017-08-30 (annotated)

Committer:
uchitake
Date:
Wed Aug 30 16:33:24 2017 +0900
Revision:
16:86958857c739
Parent:
15:9a2dce34b660
Child:
17:64895e83bbbc
Child:
18:6f52f4b1086a
Quit inheritance

Who changed what in which revision?

UserRevisionLine numberNew contents of line
UCHITAKE 0:757e9800c103 1 #include "bot.h"
UCHITAKE 0:757e9800c103 2
uchitake 16:86958857c739 3 Bot::Bot() : MotorDriver(), PIDC(), pad(XBee1TX, XBee1RX, ADDR)
UCHITAKE 0:757e9800c103 4 {
UCHITAKE 1:269914e0aa07 5 }
UCHITAKE 1:269914e0aa07 6
UCHITAKE 1:269914e0aa07 7 void Bot::confirmAll()
UCHITAKE 1:269914e0aa07 8 {
uchitake 16:86958857c739 9 pad.receiveState();
uchitake 15:9a2dce34b660 10 PIDC::confirm();
uchitake 16:86958857c739 11 if(pad.getNorm(1) > 0.5) PIDC::setSetPoint(pad.getRadian(1) * (180.0 / M_PI));
UCHITAKE 1:269914e0aa07 12 }
UCHITAKE 1:269914e0aa07 13
UCHITAKE 1:269914e0aa07 14 void Bot::controllDrive()
UCHITAKE 1:269914e0aa07 15 {
uchitake 16:86958857c739 16 MotorDriver::goXY(pad.getStick(0),pad.getStick(1), PIDC::co);
UCHITAKE 1:269914e0aa07 17 }
UCHITAKE 1:269914e0aa07 18
UCHITAKE 1:269914e0aa07 19 void Bot::controllMech()
UCHITAKE 1:269914e0aa07 20 {
uchitake 16:86958857c739 21 if(!pad.getButton1(0)) MotorDriver::moveSlider(ARM_MAX_SPEED);
uchitake 16:86958857c739 22 if(!pad.getButton1(1)) MotorDriver::moveSlider(-ARM_MAX_SPEED);
uchitake 16:86958857c739 23 if(pad.getButton1(0) && pad.getButton1(1)) MotorDriver::moveSlider(0);
uchitake 15:9a2dce34b660 24
uchitake 16:86958857c739 25 if(!pad.getButton1(3)) MotorDriver::shakeHead(ARM_MAX_SPEED);
uchitake 16:86958857c739 26 if(!pad.getButton1(4)) MotorDriver::shakeHead(-ARM_MAX_SPEED);
uchitake 16:86958857c739 27 if(pad.getButton1(3) && pad.getButton1(4)) MotorDriver::shakeHead(0);
UCHITAKE 1:269914e0aa07 28
uchitake 16:86958857c739 29 if(!pad.getButton1(5)) MotorDriver::swing(ARM_MAX_SPEED);
uchitake 16:86958857c739 30 if(!pad.getButton1(6)) MotorDriver::swing(-ARM_MAX_SPEED);
uchitake 16:86958857c739 31 if(pad.getButton1(5) && pad.getButton1(6)) MotorDriver::swing(0);
uchitake 15:9a2dce34b660 32
uchitake 16:86958857c739 33 if(!pad.getButton1(2)) {
uchitake 15:9a2dce34b660 34 MotorDriver::destroy(DESTROY_MAX_SPEED);
UCHITAKE 1:269914e0aa07 35 } else {
uchitake 15:9a2dce34b660 36 MotorDriver::destroy(0);
UCHITAKE 1:269914e0aa07 37 }
uchitake 15:9a2dce34b660 38
uchitake 16:86958857c739 39 if(!pad.getButton2(0)) MotorDriver::release();
uchitake 15:9a2dce34b660 40 }