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:
number_key
Date:
2017-09-05
Revision:
21:9c1061982b16
Parent:
20:477c5d039e93
Child:
22:682cc376da6f

File content as of revision 21:9c1061982b16:

#include "bot.h"

Bot::Bot() :
PIDC(), pad1(XBee1TX, XBee1RX, ADDR1), pad2(XBee2TX, XBee2RX, ADDR2), motor(MDSDA, MDSCL)
{
}

void Bot::confirmAll()
{
    pad1.receiveState();
    pad2.receiveState();
    PIDC::confirm();
    if(pad1.getNorm(1) > 0.5) PIDC::setSetPoint(pad1.getRadian(1) * (180.0 / M_PI));
}

void Bot::controllDrive()
{
    motor.goXY(pad1.getStick(0),pad1.getStick(1), PIDC::co);
}

void Bot::controllMech()
{
    if(!pad1.getButton1(0)) motor.moveRightTentacle(TENTACLE_MAX_SPEED);
    if(!pad1.getButton1(1)) motor.moveRightTentacle(-TENTACLE_MAX_SPEED);
    if(pad1.getButton1(0) && pad1.getButton1(1)) motor.moveRightTentacle(0);

    if(!pad1.getButton1(2)) motor.moveLeftTentacle(TENTACLE_MAX_SPEED);
    if(!pad1.getButton1(3)) motor.moveLeftTentacle(-TENTACLE_MAX_SPEED);
    if(pad1.getButton1(2) && pad1.getButton1(3)) motor.moveLeftTentacle(0);




}