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/tentacle_unit/tentacle_unit.cpp@23:37bb9afe9fdc, 2017-09-13 (annotated)

Committer:
number_key
Date:
Wed Sep 13 14:26:47 2017 +0900
Revision:
23:37bb9afe9fdc
Child:
26:7258d5ad0bff
move

Who changed what in which revision?

UserRevisionLine numberNew contents of line
number_key 23:37bb9afe9fdc 1 #include "tentacle_unit.h"
number_key 23:37bb9afe9fdc 2
number_key 23:37bb9afe9fdc 3 Tentacle::Tentacle(DigitalOut* RS485Controller, Serial* RS485) :
number_key 23:37bb9afe9fdc 4 tentacleMotor({
number_key 23:37bb9afe9fdc 5 {RS485Controller, 1, 0, SM, RS485},
number_key 23:37bb9afe9fdc 6 {RS485Controller, 1, 1, SM, RS485},
number_key 23:37bb9afe9fdc 7 }),
number_key 23:37bb9afe9fdc 8 right(Sensor3pin3a, Sensor3pin3b), left(Sensor4pin2a, Sensor4pin2b)
number_key 23:37bb9afe9fdc 9 {
number_key 23:37bb9afe9fdc 10 tentacleMotor[0].braking = true;
number_key 23:37bb9afe9fdc 11 tentacleMotor[1].braking = true;
number_key 23:37bb9afe9fdc 12 }
number_key 23:37bb9afe9fdc 13
number_key 23:37bb9afe9fdc 14 void Tentacle::rightMove(float speed)
number_key 23:37bb9afe9fdc 15 {
number_key 23:37bb9afe9fdc 16 if(speed*right.getPosition() < 0) speed = 0;
number_key 23:37bb9afe9fdc 17 if(speed*right.getPosition() > 0) right.resetPosition();
number_key 23:37bb9afe9fdc 18 tentacleMotor[0].setSpeed(speed);
number_key 23:37bb9afe9fdc 19 }
number_key 23:37bb9afe9fdc 20
number_key 23:37bb9afe9fdc 21 void Tentacle::leftMove(float speed)
number_key 23:37bb9afe9fdc 22 {
number_key 23:37bb9afe9fdc 23 if(speed*left.getPosition() < 0) speed = 0;
number_key 23:37bb9afe9fdc 24 if(speed*left.getPosition() > 0) left.resetPosition();
number_key 23:37bb9afe9fdc 25 tentacleMotor[1].setSpeed(speed);
number_key 23:37bb9afe9fdc 26 }
number_key 23:37bb9afe9fdc 27
number_key 23:37bb9afe9fdc 28 void Tentacle::stop()
number_key 23:37bb9afe9fdc 29 {
number_key 23:37bb9afe9fdc 30 tentacleMotor[0].setSpeed(0);
number_key 23:37bb9afe9fdc 31 tentacleMotor[1].setSpeed(0);
number_key 23:37bb9afe9fdc 32 }