Diff: bot/bot.cpp

Revision:

20:477c5d039e93

Parent:

18:6f52f4b1086a

Child:

21:9c1061982b16

--- a/bot/bot.cpp	Thu Aug 31 10:34:55 2017 +0900
+++ b/bot/bot.cpp	Tue Sep 05 01:23:32 2017 +0000
@@ -1,41 +1,34 @@
 #include "bot.h"
 
 Bot::Bot() :
-PIDC(), pad(XBee1TX, XBee1RX, ADDR), motor(MDSDA, MDSCL, solenoidPin)
+PIDC(), pad1(XBee1TX, XBee1RX, ADDR1), pad2(XBee2TX, XBee2RX, ADDR2), motor(MDSDA, MDSCL)
 {
 }
 
 void Bot::confirmAll()
 {
-    pad.receiveState();
+    pad1.receiveState();
+    pad2.receiveState();
     PIDC::confirm();
-    if(pad.getNorm(1) > 0.5) PIDC::setSetPoint(pad.getRadian(1) * (180.0 / M_PI));
+    if(pad1.getNorm(1) > 0.5) PIDC::setSetPoint(pad1.getRadian(1) * (180.0 / M_PI));
 }
 
 void Bot::controllDrive()
 {
-    motor.goXY(pad.getStick(0),pad.getStick(1), PIDC::co);
+    motor.goXY(pad1.getStick(0),pad1.getStick(1), PIDC::co);
 }
 
 void Bot::controllMech()
 {
-    if(!pad.getButton1(0)) motor.moveSlider(ARM_MAX_SPEED);
-    if(!pad.getButton1(1)) motor.moveSlider(-ARM_MAX_SPEED);
-    if(pad.getButton1(0) && pad.getButton1(1)) motor.moveSlider(0);
-
-    if(!pad.getButton1(3)) motor.shakeHead(ARM_MAX_SPEED);
-    if(!pad.getButton1(4)) motor.shakeHead(-ARM_MAX_SPEED);
-    if(pad.getButton1(3) && pad.getButton1(4)) motor.shakeHead(0);
+    if(!pad1.getButton1(0)) motor.moveRightTentacle(TENTACLE_MAX_SPEED);
+    if(!pad1.getButton1(1)) motor.moveRightTentacle(-TENTACLE_MAX_SPEED);
+    if(pad1.getButton1(0) && pad1.getButton1(1)) motor.moveRightTentacle(0);
+    
+    if(!pad1.getButton1(2)) motor.moveLeftTentacle(TENTACLE_MAX_SPEED);
+    if(!pad1.getButton1(3)) motor.moveLeftTentacle(-TENTACLE_MAX_SPEED);
+    if(pad1.getButton1(2) && pad1.getButton1(3)) motor.moveLeftTentacle(0);
 
-    if(!pad.getButton1(5)) motor.swing(ARM_MAX_SPEED);
-    if(!pad.getButton1(6)) motor.swing(-ARM_MAX_SPEED);
-    if(pad.getButton1(5) && pad.getButton1(6)) motor.swing(0);
+    
 
-    if(!pad.getButton1(2)) {
-        motor.destroy(DESTROY_MAX_SPEED);
-    } else {
-        motor.destroy(0);
-    }
 
-    if(!pad.getButton2(0)) motor.release();
 }