NagaokaRoboticsClub_mbedTeam / Mbed 2 deprecated NHK2017_octopus

NHK2017 octopus robot

Dependencies:   2017NHKpin_config mbed FEP ikarashiMDC PID jy901 omni HMC6352 omni_wheel

Fork of KANI2017v2 by NagaokaRoboticsClub_mbedTeam

bot/bot.cpp

Committer:
uchitake
Date:
2017-08-30
Revision:
15:9a2dce34b660
Parent:
5:bc5ba4f070ad
Child:
16:86958857c739

File content as of revision 15:9a2dce34b660:

#include "bot.h"

Bot::Bot() : Controller(), MotorDriver(), PIDC()
{
}

void Bot::confirmAll()
{
    Controller::receiveState();
    PIDC::confirm();
    if(Controller::norm[1] > 0.5) PIDC::setSetPoint(radian[1] * (180.0 / M_PI));
}

void Bot::controllDrive()
{
    MotorDriver::goXY(Controller::stick[0],Controller::stick[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(!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(!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(!Controller::button1[2]) {
        MotorDriver::destroy(DESTROY_MAX_SPEED);
    } else {
        MotorDriver::destroy(0);
    }

    if(!Controller::button2[0]) MotorDriver::release();
}