Diff: bot/bot.cpp

Revision:

17:64895e83bbbc

Parent:

16:86958857c739

--- a/bot/bot.cpp	Wed Aug 30 16:33:24 2017 +0900
+++ b/bot/bot.cpp	Wed Aug 30 08:21:50 2017 +0000
@@ -1,40 +1,41 @@
 #include "bot.h"
 
-Bot::Bot() : MotorDriver(), PIDC(), pad(XBee1TX, XBee1RX, ADDR)
+Bot::Bot() : MotorDriver(), PIDC(), pad1(XBee1TX, XBee1RX, ADDR1), pad2(XBee2TX, XBee2RX, ADDR2)
 {
 }
 
 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()
 {
-    MotorDriver::goXY(pad.getStick(0),pad.getStick(1), PIDC::co);
+    MotorDriver::goXY(pad1.getStick(0),pad1.getStick(1), PIDC::co);
 }
 
 void Bot::controllMech()
 {
-    if(!pad.getButton1(0)) MotorDriver::moveSlider(ARM_MAX_SPEED);
-    if(!pad.getButton1(1)) MotorDriver::moveSlider(-ARM_MAX_SPEED);
-    if(pad.getButton1(0) && pad.getButton1(1)) MotorDriver::moveSlider(0);
+    if(!pad2.getButton1(0)) MotorDriver::moveSlider(ARM_MAX_SPEED);
+    if(!pad2.getButton1(1)) MotorDriver::moveSlider(-ARM_MAX_SPEED);
+    if(pad2.getButton1(0) && pad2.getButton1(1)) MotorDriver::moveSlider(0);
 
-    if(!pad.getButton1(3)) MotorDriver::shakeHead(ARM_MAX_SPEED);
-    if(!pad.getButton1(4)) MotorDriver::shakeHead(-ARM_MAX_SPEED);
-    if(pad.getButton1(3) && pad.getButton1(4)) MotorDriver::shakeHead(0);
+    if(!pad2.getButton1(3)) MotorDriver::shakeHead(ARM_MAX_SPEED);
+    if(!pad2.getButton1(4)) MotorDriver::shakeHead(-ARM_MAX_SPEED);
+    if(pad2.getButton1(3) && pad2.getButton1(4)) MotorDriver::shakeHead(0);
 
-    if(!pad.getButton1(5)) MotorDriver::swing(ARM_MAX_SPEED);
-    if(!pad.getButton1(6)) MotorDriver::swing(-ARM_MAX_SPEED);
-    if(pad.getButton1(5) && pad.getButton1(6)) MotorDriver::swing(0);
+    if(!pad2.getButton1(5)) MotorDriver::swing(ARM_MAX_SPEED);
+    if(!pad2.getButton1(6)) MotorDriver::swing(-ARM_MAX_SPEED);
+    if(pad2.getButton1(5) && pad2.getButton1(6)) MotorDriver::swing(0);
 
-    if(!pad.getButton1(2)) {
+    if(!pad2.getButton1(2)) {
         MotorDriver::destroy(DESTROY_MAX_SPEED);
     } else {
         MotorDriver::destroy(0);
     }
 
-    if(!pad.getButton2(0)) MotorDriver::release();
+    if(!pad2.getButton2(0)) MotorDriver::release();
 }