Diff: bot/bot.cpp

Revision:

16:86958857c739

Parent:

15:9a2dce34b660

Child:

17:64895e83bbbc

Child:

18:6f52f4b1086a

--- a/bot/bot.cpp	Wed Aug 30 15:25:49 2017 +0900
+++ b/bot/bot.cpp	Wed Aug 30 16:33:24 2017 +0900
@@ -1,40 +1,40 @@
 #include "bot.h"
 
-Bot::Bot() : Controller(), MotorDriver(), PIDC()
+Bot::Bot() : MotorDriver(), PIDC(), pad(XBee1TX, XBee1RX, ADDR)
 {
 }
 
 void Bot::confirmAll()
 {
-    Controller::receiveState();
+    pad.receiveState();
     PIDC::confirm();
-    if(Controller::norm[1] > 0.5) PIDC::setSetPoint(radian[1] * (180.0 / M_PI));
+    if(pad.getNorm(1) > 0.5) PIDC::setSetPoint(pad.getRadian(1) * (180.0 / M_PI));
 }
 
 void Bot::controllDrive()
 {
-    MotorDriver::goXY(Controller::stick[0],Controller::stick[1], PIDC::co);
+    MotorDriver::goXY(pad.getStick(0),pad.getStick(1), PIDC::co);
 }
 
 void Bot::controllMech()
 {
-    if(!Controller::button1[0]) MotorDriver::moveSlider(ARM_MAX_SPEED);
-    if(!Controller::button1[1]) MotorDriver::moveSlider(-ARM_MAX_SPEED);
-    if(Controller::button1[0] && Controller::button1[1]) MotorDriver::moveSlider(0);
+    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(!Controller::button1[3]) MotorDriver::shakeHead(ARM_MAX_SPEED);
-    if(!Controller::button1[4]) MotorDriver::shakeHead(-ARM_MAX_SPEED);
-    if(Controller::button1[3] && Controller::button1[4]) MotorDriver::shakeHead(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(!Controller::button1[5]) MotorDriver::swing(ARM_MAX_SPEED);
-    if(!Controller::button1[6]) MotorDriver::swing(-ARM_MAX_SPEED);
-    if(Controller::button1[5] && Controller::button1[6]) MotorDriver::swing(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(!Controller::button1[2]) {
+    if(!pad.getButton1(2)) {
         MotorDriver::destroy(DESTROY_MAX_SPEED);
     } else {
         MotorDriver::destroy(0);
     }
 
-    if(!Controller::button2[0]) MotorDriver::release();
+    if(!pad.getButton2(0)) MotorDriver::release();
 }