NHK2017 octopus robot
Dependencies: 2017NHKpin_config mbed FEP ikarashiMDC PID jy901 omni HMC6352 omni_wheel
Fork of KANI2017v2 by
bot/bot.cpp@20:477c5d039e93, 2017-09-05 (annotated)
- Committer:
- number_key
- Date:
- Tue Sep 05 01:23:32 2017 +0000
- Revision:
- 20:477c5d039e93
- Parent:
- 18:6f52f4b1086a
- Child:
- 21:9c1061982b16
start
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
UCHITAKE | 0:757e9800c103 | 1 | #include "bot.h" |
UCHITAKE | 0:757e9800c103 | 2 | |
uchitake |
18:6f52f4b1086a | 3 | Bot::Bot() : |
number_key | 20:477c5d039e93 | 4 | PIDC(), pad1(XBee1TX, XBee1RX, ADDR1), pad2(XBee2TX, XBee2RX, ADDR2), motor(MDSDA, MDSCL) |
UCHITAKE | 0:757e9800c103 | 5 | { |
UCHITAKE | 1:269914e0aa07 | 6 | } |
UCHITAKE | 1:269914e0aa07 | 7 | |
UCHITAKE | 1:269914e0aa07 | 8 | void Bot::confirmAll() |
UCHITAKE | 1:269914e0aa07 | 9 | { |
number_key | 20:477c5d039e93 | 10 | pad1.receiveState(); |
number_key | 20:477c5d039e93 | 11 | pad2.receiveState(); |
uchitake |
15:9a2dce34b660 | 12 | PIDC::confirm(); |
number_key | 20:477c5d039e93 | 13 | if(pad1.getNorm(1) > 0.5) PIDC::setSetPoint(pad1.getRadian(1) * (180.0 / M_PI)); |
UCHITAKE | 1:269914e0aa07 | 14 | } |
UCHITAKE | 1:269914e0aa07 | 15 | |
UCHITAKE | 1:269914e0aa07 | 16 | void Bot::controllDrive() |
UCHITAKE | 1:269914e0aa07 | 17 | { |
number_key | 20:477c5d039e93 | 18 | motor.goXY(pad1.getStick(0),pad1.getStick(1), PIDC::co); |
UCHITAKE | 1:269914e0aa07 | 19 | } |
UCHITAKE | 1:269914e0aa07 | 20 | |
UCHITAKE | 1:269914e0aa07 | 21 | void Bot::controllMech() |
UCHITAKE | 1:269914e0aa07 | 22 | { |
number_key | 20:477c5d039e93 | 23 | if(!pad1.getButton1(0)) motor.moveRightTentacle(TENTACLE_MAX_SPEED); |
number_key | 20:477c5d039e93 | 24 | if(!pad1.getButton1(1)) motor.moveRightTentacle(-TENTACLE_MAX_SPEED); |
number_key | 20:477c5d039e93 | 25 | if(pad1.getButton1(0) && pad1.getButton1(1)) motor.moveRightTentacle(0); |
number_key | 20:477c5d039e93 | 26 | |
number_key | 20:477c5d039e93 | 27 | if(!pad1.getButton1(2)) motor.moveLeftTentacle(TENTACLE_MAX_SPEED); |
number_key | 20:477c5d039e93 | 28 | if(!pad1.getButton1(3)) motor.moveLeftTentacle(-TENTACLE_MAX_SPEED); |
number_key | 20:477c5d039e93 | 29 | if(pad1.getButton1(2) && pad1.getButton1(3)) motor.moveLeftTentacle(0); |
UCHITAKE | 1:269914e0aa07 | 30 | |
number_key | 20:477c5d039e93 | 31 | |
uchitake |
15:9a2dce34b660 | 32 | |
uchitake |
15:9a2dce34b660 | 33 | |
uchitake |
15:9a2dce34b660 | 34 | } |