![](/media/cache/group/default_image.jpg.50x50_q85.jpg)
NHK2017 octopus robot
Dependencies: 2017NHKpin_config mbed FEP ikarashiMDC PID jy901 omni HMC6352 omni_wheel
Fork of KANI2017v2 by
bot/bot.h
- Committer:
- number_key
- Date:
- 2017-10-25
- Revision:
- 26:7258d5ad0bff
- Parent:
- 25:d199d621ecca
File content as of revision 26:7258d5ad0bff:
/** * @file bot.h * @brief ロボットのクラス */ #ifndef BOT_H #define BOT_H #include "mbed.h" #include "pin_config.h" #include "controller.h" #include "PID_controller.h" #include "tentacle_unit.h" #include "wheel_unit.h" #include "sword_unit.h" #include "elevator.h" #include "def.h" const float ADJUST_DEGREE = 5.0; /** * @brief ロボットのクラス */ class Bot { public : /** * @brief コンストラクタ */ Bot(); /** * @brief センサなどの値を更新 */ 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 checkConnection(); void debugCompass(); private : Controller pad1; Controller pad2; Serial RS485; DigitalOut RS485Controller; DigitalOut powerSwitch; WheelUnit quadOmni; Tentacle tentacle; Sword nishijo; Elevator nishijoSword; PIDC plane; PIDC axis; bool receiveSuccessed1; bool receiveSuccessed2; float frontDegree; DigitalOut led[3]; Serial debugSerial; Timer t; }; #endif//BOT_H