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:
2017-08-22
Revision:
2:ea151e05033a
Parent:
1:269914e0aa07
Child:
5:bc5ba4f070ad

File content as of revision 2:ea151e05033a:

#include "bot.h"

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

void Bot::confirmAll()
{
    receiveState();
    if(vector2[1] > 0.5)setSetPoint(vector2[0]);
}

void Bot::controllDrive()
{
    goPolar(vector, co);
}

void Bot::controllMech()
{
    if(!Button1[0]) moveSlider(ARM_MAX_SPEED);
    if(!Button1[1]) moveSlider(-ARM_MAX_SPEED);
    if(Button1[0] && Button1[1]) moveSlider(0);

    if(!Button1[2]) {
        destroy(DESTROY_MAX_SPEED);
    } else {
        destroy(0);
    }
}