NHK2017 octopus robot
Dependencies: 2017NHKpin_config mbed FEP ikarashiMDC PID jy901 omni HMC6352 omni_wheel
Fork of KANI2017v2 by
Diff: bot/bot.h
- Revision:
- 26:7258d5ad0bff
- Parent:
- 25:d199d621ecca
--- a/bot/bot.h Sat Sep 30 17:59:10 2017 +0900 +++ b/bot/bot.h Wed Oct 25 03:25:06 2017 +0900 @@ -15,11 +15,12 @@ #include "elevator.h" #include "def.h" +const float ADJUST_DEGREE = 5.0; /** * @brief ロボットのクラス */ -class Bot : public PIDC +class Bot { public : /** @@ -30,22 +31,30 @@ /** * @brief センサなどの値を更新 */ - void confirmAll(); + void confirmPad1(); + void confirmPad2(); /** * @brief 足回りの制御 */ + void drive(); void controllDrive(); void controllDrive2(); + void controllDrive3(); /** * @brief 機構部の制御 */ void controllMech(); + /** + * センサのキャリブレーション + */ void calibrate(); - void debugPrint(); + void checkConnection(); + + void debugCompass(); private : Controller pad1; @@ -57,11 +66,14 @@ Tentacle tentacle; Sword nishijo; Elevator nishijoSword; + PIDC plane; + PIDC axis; bool receiveSuccessed1; bool receiveSuccessed2; - DigitalOut led[8]; + float frontDegree; + DigitalOut led[3]; Serial debugSerial; - DigitalOut test; + Timer t; }; #endif//BOT_H