NHK2017 octopus robot
Dependencies: 2017NHKpin_config mbed FEP ikarashiMDC PID jy901 omni HMC6352 omni_wheel
Fork of KANI2017v2 by
bot/sword_unit/sword_unit.cpp@25:d199d621ecca, 2017-09-30 (annotated)
- Committer:
- number_key
- Date:
- Sat Sep 30 17:59:10 2017 +0900
- Revision:
- 25:d199d621ecca
- Parent:
- 23:37bb9afe9fdc
- Child:
- 26:7258d5ad0bff
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Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
number_key |
23:37bb9afe9fdc | 1 | #include "sword_unit.h" |
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23:37bb9afe9fdc | 2 | |
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23:37bb9afe9fdc | 3 | Sword::Sword(DigitalOut* RS485Controller, Serial* RS485) : |
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25:d199d621ecca | 4 | swordMotor(RS485Controller, 1, 3, SM, RS485) |
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23:37bb9afe9fdc | 5 | { |
number_key |
23:37bb9afe9fdc | 6 | swordMotor.braking = true; |
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23:37bb9afe9fdc | 7 | } |
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23:37bb9afe9fdc | 8 | |
number_key |
23:37bb9afe9fdc | 9 | void Sword::move(float speed) |
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23:37bb9afe9fdc | 10 | { |
number_key |
23:37bb9afe9fdc | 11 | //if(speed*right.getPosition() < 0) speed = 0; |
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23:37bb9afe9fdc | 12 | //if(speed*right.getPosition() > 0) right.resetPosition(); |
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23:37bb9afe9fdc | 13 | swordMotor.setSpeed(speed); |
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23:37bb9afe9fdc | 14 | } |
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23:37bb9afe9fdc | 15 | |
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23:37bb9afe9fdc | 16 | void Sword::stop() |
number_key |
23:37bb9afe9fdc | 17 | { |
number_key |
23:37bb9afe9fdc | 18 | swordMotor.setSpeed(0); |
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23:37bb9afe9fdc | 19 | } |