NHK2017 octopus robot
Dependencies: 2017NHKpin_config mbed FEP ikarashiMDC PID jy901 omni HMC6352 omni_wheel
Fork of KANI2017v2 by
bot/bot.cpp@5:bc5ba4f070ad, 2017-08-24 (annotated)
- Committer:
- UCHITAKE
- Date:
- Thu Aug 24 08:16:09 2017 +0000
- Revision:
- 5:bc5ba4f070ad
- Parent:
- 2:ea151e05033a
- Child:
- 15:9a2dce34b660
Just worked !!!!!!!!
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 | 2:ea151e05033a | 3 | Bot::Bot() : Controller(), MotorDriver(), PIDC() |
UCHITAKE | 0:757e9800c103 | 4 | { |
UCHITAKE | 1:269914e0aa07 | 5 | } |
UCHITAKE | 1:269914e0aa07 | 6 | |
UCHITAKE | 1:269914e0aa07 | 7 | void Bot::confirmAll() |
UCHITAKE | 1:269914e0aa07 | 8 | { |
UCHITAKE | 1:269914e0aa07 | 9 | receiveState(); |
UCHITAKE | 5:bc5ba4f070ad | 10 | confirm(); |
UCHITAKE | 2:ea151e05033a | 11 | if(vector2[1] > 0.5)setSetPoint(vector2[0]); |
UCHITAKE | 1:269914e0aa07 | 12 | } |
UCHITAKE | 1:269914e0aa07 | 13 | |
UCHITAKE | 1:269914e0aa07 | 14 | void Bot::controllDrive() |
UCHITAKE | 1:269914e0aa07 | 15 | { |
UCHITAKE | 5:bc5ba4f070ad | 16 | goXY(stick[0],stick[1], co); |
UCHITAKE | 1:269914e0aa07 | 17 | } |
UCHITAKE | 1:269914e0aa07 | 18 | |
UCHITAKE | 1:269914e0aa07 | 19 | void Bot::controllMech() |
UCHITAKE | 1:269914e0aa07 | 20 | { |
UCHITAKE | 1:269914e0aa07 | 21 | if(!Button1[0]) moveSlider(ARM_MAX_SPEED); |
UCHITAKE | 1:269914e0aa07 | 22 | if(!Button1[1]) moveSlider(-ARM_MAX_SPEED); |
UCHITAKE | 1:269914e0aa07 | 23 | if(Button1[0] && Button1[1]) moveSlider(0); |
UCHITAKE | 1:269914e0aa07 | 24 | |
UCHITAKE | 1:269914e0aa07 | 25 | if(!Button1[2]) { |
UCHITAKE | 1:269914e0aa07 | 26 | destroy(DESTROY_MAX_SPEED); |
UCHITAKE | 1:269914e0aa07 | 27 | } else { |
UCHITAKE | 1:269914e0aa07 | 28 | destroy(0); |
UCHITAKE | 1:269914e0aa07 | 29 | } |
UCHITAKE | 0:757e9800c103 | 30 | } |