Diff: bot/bot.cpp

Revision:

18:6f52f4b1086a

Parent:

16:86958857c739

Child:

20:477c5d039e93

--- a/bot/bot.cpp	Wed Aug 30 16:33:24 2017 +0900
+++ b/bot/bot.cpp	Wed Aug 30 17:14:11 2017 +0900
@@ -1,6 +1,7 @@
 #include "bot.h"
 
-Bot::Bot() : MotorDriver(), PIDC(), pad(XBee1TX, XBee1RX, ADDR)
+Bot::Bot() :
+PIDC(), pad(XBee1TX, XBee1RX, ADDR), motor(MDSDA, MDSCL, solenoidPin)
 {
 }
 
@@ -13,28 +14,28 @@
 
 void Bot::controllDrive()
 {
-    MotorDriver::goXY(pad.getStick(0),pad.getStick(1), PIDC::co);
+    motor.goXY(pad.getStick(0),pad.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(!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)) 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(!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(!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(!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)) {
-        MotorDriver::destroy(DESTROY_MAX_SPEED);
+        motor.destroy(DESTROY_MAX_SPEED);
     } else {
-        MotorDriver::destroy(0);
+        motor.destroy(0);
     }
 
-    if(!pad.getButton2(0)) MotorDriver::release();
+    if(!pad.getButton2(0)) motor.release();
 }