NHK2017 octopus robot
Dependencies: 2017NHKpin_config mbed FEP ikarashiMDC PID jy901 omni HMC6352 omni_wheel
Fork of KANI2017v2 by
bot/bot.cpp@16:86958857c739, 2017-08-30 (annotated)
- Committer:
- uchitake
- Date:
- Wed Aug 30 16:33:24 2017 +0900
- Revision:
- 16:86958857c739
- Parent:
- 15:9a2dce34b660
- Child:
- 17:64895e83bbbc
- Child:
- 18:6f52f4b1086a
Quit inheritance
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 |
16:86958857c739 | 3 | Bot::Bot() : MotorDriver(), PIDC(), pad(XBee1TX, XBee1RX, ADDR) |
UCHITAKE | 0:757e9800c103 | 4 | { |
UCHITAKE | 1:269914e0aa07 | 5 | } |
UCHITAKE | 1:269914e0aa07 | 6 | |
UCHITAKE | 1:269914e0aa07 | 7 | void Bot::confirmAll() |
UCHITAKE | 1:269914e0aa07 | 8 | { |
uchitake |
16:86958857c739 | 9 | pad.receiveState(); |
uchitake |
15:9a2dce34b660 | 10 | PIDC::confirm(); |
uchitake |
16:86958857c739 | 11 | if(pad.getNorm(1) > 0.5) PIDC::setSetPoint(pad.getRadian(1) * (180.0 / M_PI)); |
UCHITAKE | 1:269914e0aa07 | 12 | } |
UCHITAKE | 1:269914e0aa07 | 13 | |
UCHITAKE | 1:269914e0aa07 | 14 | void Bot::controllDrive() |
UCHITAKE | 1:269914e0aa07 | 15 | { |
uchitake |
16:86958857c739 | 16 | MotorDriver::goXY(pad.getStick(0),pad.getStick(1), PIDC::co); |
UCHITAKE | 1:269914e0aa07 | 17 | } |
UCHITAKE | 1:269914e0aa07 | 18 | |
UCHITAKE | 1:269914e0aa07 | 19 | void Bot::controllMech() |
UCHITAKE | 1:269914e0aa07 | 20 | { |
uchitake |
16:86958857c739 | 21 | if(!pad.getButton1(0)) MotorDriver::moveSlider(ARM_MAX_SPEED); |
uchitake |
16:86958857c739 | 22 | if(!pad.getButton1(1)) MotorDriver::moveSlider(-ARM_MAX_SPEED); |
uchitake |
16:86958857c739 | 23 | if(pad.getButton1(0) && pad.getButton1(1)) MotorDriver::moveSlider(0); |
uchitake |
15:9a2dce34b660 | 24 | |
uchitake |
16:86958857c739 | 25 | if(!pad.getButton1(3)) MotorDriver::shakeHead(ARM_MAX_SPEED); |
uchitake |
16:86958857c739 | 26 | if(!pad.getButton1(4)) MotorDriver::shakeHead(-ARM_MAX_SPEED); |
uchitake |
16:86958857c739 | 27 | if(pad.getButton1(3) && pad.getButton1(4)) MotorDriver::shakeHead(0); |
UCHITAKE | 1:269914e0aa07 | 28 | |
uchitake |
16:86958857c739 | 29 | if(!pad.getButton1(5)) MotorDriver::swing(ARM_MAX_SPEED); |
uchitake |
16:86958857c739 | 30 | if(!pad.getButton1(6)) MotorDriver::swing(-ARM_MAX_SPEED); |
uchitake |
16:86958857c739 | 31 | if(pad.getButton1(5) && pad.getButton1(6)) MotorDriver::swing(0); |
uchitake |
15:9a2dce34b660 | 32 | |
uchitake |
16:86958857c739 | 33 | if(!pad.getButton1(2)) { |
uchitake |
15:9a2dce34b660 | 34 | MotorDriver::destroy(DESTROY_MAX_SPEED); |
UCHITAKE | 1:269914e0aa07 | 35 | } else { |
uchitake |
15:9a2dce34b660 | 36 | MotorDriver::destroy(0); |
UCHITAKE | 1:269914e0aa07 | 37 | } |
uchitake |
15:9a2dce34b660 | 38 | |
uchitake |
16:86958857c739 | 39 | if(!pad.getButton2(0)) MotorDriver::release(); |
uchitake |
15:9a2dce34b660 | 40 | } |