NHK2017 octopus robot
Dependencies: 2017NHKpin_config mbed FEP ikarashiMDC PID jy901 omni HMC6352 omni_wheel
Fork of KANI2017v2 by
bot/bot.cpp@17:64895e83bbbc, 2017-08-30 (annotated)
- Committer:
- number_key
- Date:
- Wed Aug 30 08:21:50 2017 +0000
- Revision:
- 17:64895e83bbbc
- Parent:
- 16:86958857c739
sg
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 | |
number_key | 17:64895e83bbbc | 3 | Bot::Bot() : MotorDriver(), PIDC(), pad1(XBee1TX, XBee1RX, ADDR1), pad2(XBee2TX, XBee2RX, ADDR2) |
UCHITAKE | 0:757e9800c103 | 4 | { |
UCHITAKE | 1:269914e0aa07 | 5 | } |
UCHITAKE | 1:269914e0aa07 | 6 | |
UCHITAKE | 1:269914e0aa07 | 7 | void Bot::confirmAll() |
UCHITAKE | 1:269914e0aa07 | 8 | { |
number_key | 17:64895e83bbbc | 9 | pad1.receiveState(); |
number_key | 17:64895e83bbbc | 10 | pad2.receiveState(); |
uchitake |
15:9a2dce34b660 | 11 | PIDC::confirm(); |
number_key | 17:64895e83bbbc | 12 | if(pad1.getNorm(1) > 0.5) PIDC::setSetPoint(pad1.getRadian(1) * (180.0 / M_PI)); |
UCHITAKE | 1:269914e0aa07 | 13 | } |
UCHITAKE | 1:269914e0aa07 | 14 | |
UCHITAKE | 1:269914e0aa07 | 15 | void Bot::controllDrive() |
UCHITAKE | 1:269914e0aa07 | 16 | { |
number_key | 17:64895e83bbbc | 17 | MotorDriver::goXY(pad1.getStick(0),pad1.getStick(1), PIDC::co); |
UCHITAKE | 1:269914e0aa07 | 18 | } |
UCHITAKE | 1:269914e0aa07 | 19 | |
UCHITAKE | 1:269914e0aa07 | 20 | void Bot::controllMech() |
UCHITAKE | 1:269914e0aa07 | 21 | { |
number_key | 17:64895e83bbbc | 22 | if(!pad2.getButton1(0)) MotorDriver::moveSlider(ARM_MAX_SPEED); |
number_key | 17:64895e83bbbc | 23 | if(!pad2.getButton1(1)) MotorDriver::moveSlider(-ARM_MAX_SPEED); |
number_key | 17:64895e83bbbc | 24 | if(pad2.getButton1(0) && pad2.getButton1(1)) MotorDriver::moveSlider(0); |
uchitake |
15:9a2dce34b660 | 25 | |
number_key | 17:64895e83bbbc | 26 | if(!pad2.getButton1(3)) MotorDriver::shakeHead(ARM_MAX_SPEED); |
number_key | 17:64895e83bbbc | 27 | if(!pad2.getButton1(4)) MotorDriver::shakeHead(-ARM_MAX_SPEED); |
number_key | 17:64895e83bbbc | 28 | if(pad2.getButton1(3) && pad2.getButton1(4)) MotorDriver::shakeHead(0); |
UCHITAKE | 1:269914e0aa07 | 29 | |
number_key | 17:64895e83bbbc | 30 | if(!pad2.getButton1(5)) MotorDriver::swing(ARM_MAX_SPEED); |
number_key | 17:64895e83bbbc | 31 | if(!pad2.getButton1(6)) MotorDriver::swing(-ARM_MAX_SPEED); |
number_key | 17:64895e83bbbc | 32 | if(pad2.getButton1(5) && pad2.getButton1(6)) MotorDriver::swing(0); |
uchitake |
15:9a2dce34b660 | 33 | |
number_key | 17:64895e83bbbc | 34 | if(!pad2.getButton1(2)) { |
uchitake |
15:9a2dce34b660 | 35 | MotorDriver::destroy(DESTROY_MAX_SPEED); |
UCHITAKE | 1:269914e0aa07 | 36 | } else { |
uchitake |
15:9a2dce34b660 | 37 | MotorDriver::destroy(0); |
UCHITAKE | 1:269914e0aa07 | 38 | } |
uchitake |
15:9a2dce34b660 | 39 | |
number_key | 17:64895e83bbbc | 40 | if(!pad2.getButton2(0)) MotorDriver::release(); |
uchitake |
15:9a2dce34b660 | 41 | } |