File content as of revision 23:37bb9afe9fdc:

#include "bot.h"

Bot::Bot() :
    PIDC(),
    pad1(XBee1TX, XBee1RX, ADDR1),
    //pad2(XBee2TX, XBee2RX, ADDR2),
    RS485(MDTX, MDRX, 38400),
    RS485Controller(PWM1),
    powerSwitch(MDstop),
    quadOmni(&RS485Controller, &RS485),
    tentacle(&RS485Controller, &RS485),
    nishijo(&RS485Controller, &RS485),
    nishijoSword(&RS485Controller, &RS485),
    receiveSuccessed1(0),
    //receiveSuccessed2(0),
    led({DebugLED1, DebugLED2, DebugLED3, DebugLED4,
        DebugLED5, DebugLED6, DebugLED7, DebugLED8}),
    debugSerial(USBTX, USBRX, 115200)
{


    quadOmni.moveXY(0, 0, 0);

    powerSwitch = 1;

    for(int i = 0; i < 8; i++) {
        led[i] = 1;
        wait(0.1);
        led[i] = 0;
    }
    for(int i = 0; i < 8; i++) {
        led[i] = 1;
        wait(0.1);
        led[i] = 0;
    }
}

void Bot::confirmAll()
{
    receiveSuccessed1 = pad1.receiveState();
    //receiveSuccessed2 = pad2.receiveState();
    if(!receiveSuccessed1) {
        quadOmni.moveXY(0, 0, 0);
        tentacle.stop();
    }
}

void Bot::controllDrive()
{
    if(receiveSuccessed1) {
        if(pad1.getNorm(1) > 0.5) {
            PIDC::PID::setSetPoint((pad1.getRadian(1) - M_PI / 2) * (180.0 / M_PI));
            PIDC::confirm();
        }
        PIDC::renewAngle();
        quadOmni.moveXY(
            pad1.getStick(0) / 2.0,
            -pad1.getStick(1) /2.0,
            PIDC::calculationResult
        );
    } else {
        quadOmni.moveXY(0, 0, 0);
    }
}

void Bot::controllDrive2()
{
    float moment = 0;
    static float beforestick = pad1.getStick(2);

    if(!pad1.getButton2(2)) {
        PIDC::resetPlaneOffset();
    }

    if((beforestick >= 0.5 && pad1.getStick(2) < 0.5) || (beforestick <= -0.5 && pad1.getStick(2) > -0.5)) {
        PIDC::PID::setSetPoint(0.0);
        PIDC::resetAxisOffset();
    }

    if(pad1.getStick(2) > 0.5 || pad1.getStick(2) < -0.5) {
        moment = pad1.getStick(2) / 4.0;
        PIDC::confirm();
    }
    if(fabs(pad1.getStick(2)) < 0.5) {
        PIDC::confirm();
        moment = PIDC::calculationResult;
    }

    if(receiveSuccessed1) {
        quadOmni.moveCircular(
            pad1.getNorm(0) / 2.0,
            pad1.getRadian(0) - PIDC::planeCurrentDegree / 10.0 * (M_PI / 180.0) + M_PI,
            moment
        );
    } else {
        quadOmni.moveXY(0, 0, 0);
    }
    beforestick = pad1.getStick(2);
}

void Bot::controllMech()
{
    if(receiveSuccessed1) {
        if(!pad1.getButton2(2)) tentacle.rightMove(TENTACLE_SPEED);
        if(!pad1.getButton2(3)) tentacle.rightMove(-TENTACLE_SPEED);
        if(pad1.getButton2(2) && pad1.getButton2(3))  tentacle.rightMove(0);

        if(!pad1.getButton2(0)) tentacle.leftMove(TENTACLE_SPEED);
        if(!pad1.getButton2(1)) tentacle.leftMove(-TENTACLE_SPEED);
        if(pad1.getButton2(0) && pad1.getButton2(1))  tentacle.leftMove(0);

        //if(!pad1.getButton1(0)); powerSwitch = 0;
    } else {
      tentacle.stop();
      //powerSwitch = 0;
    }
    /*if(receiveSuccessed2){

    }*/
}


void Bot::calibrate()
{

}

void Bot::debugPrint()
{
  if(receiveSuccessed1) {
    //debugSerial.printf("%f %f %f %f ,%f\r\n",pad1.getStick(0),pad1.getStick(1),pad1.getStick(2),pad1.getStick(3));
    debugSerial.printf("%f\r\n",PIDC::angle);
  } else {
    debugSerial.printf("\r\n");
  }
}