NHK2017 octopus robot
Dependencies: 2017NHKpin_config mbed FEP ikarashiMDC PID jy901 omni HMC6352 omni_wheel
Fork of KANI2017v2 by
Diff: bot/bot.cpp
- Revision:
- 17:64895e83bbbc
- Parent:
- 16:86958857c739
diff -r 86958857c739 -r 64895e83bbbc bot/bot.cpp --- a/bot/bot.cpp Wed Aug 30 16:33:24 2017 +0900 +++ b/bot/bot.cpp Wed Aug 30 08:21:50 2017 +0000 @@ -1,40 +1,41 @@ #include "bot.h" -Bot::Bot() : MotorDriver(), PIDC(), pad(XBee1TX, XBee1RX, ADDR) +Bot::Bot() : MotorDriver(), PIDC(), pad1(XBee1TX, XBee1RX, ADDR1), pad2(XBee2TX, XBee2RX, ADDR2) { } void Bot::confirmAll() { - pad.receiveState(); + pad1.receiveState(); + pad2.receiveState(); PIDC::confirm(); - if(pad.getNorm(1) > 0.5) PIDC::setSetPoint(pad.getRadian(1) * (180.0 / M_PI)); + if(pad1.getNorm(1) > 0.5) PIDC::setSetPoint(pad1.getRadian(1) * (180.0 / M_PI)); } void Bot::controllDrive() { - MotorDriver::goXY(pad.getStick(0),pad.getStick(1), PIDC::co); + MotorDriver::goXY(pad1.getStick(0),pad1.getStick(1), PIDC::co); } void Bot::controllMech() { - if(!pad.getButton1(0)) MotorDriver::moveSlider(ARM_MAX_SPEED); - if(!pad.getButton1(1)) MotorDriver::moveSlider(-ARM_MAX_SPEED); - if(pad.getButton1(0) && pad.getButton1(1)) MotorDriver::moveSlider(0); + if(!pad2.getButton1(0)) MotorDriver::moveSlider(ARM_MAX_SPEED); + if(!pad2.getButton1(1)) MotorDriver::moveSlider(-ARM_MAX_SPEED); + if(pad2.getButton1(0) && pad2.getButton1(1)) MotorDriver::moveSlider(0); - if(!pad.getButton1(3)) MotorDriver::shakeHead(ARM_MAX_SPEED); - if(!pad.getButton1(4)) MotorDriver::shakeHead(-ARM_MAX_SPEED); - if(pad.getButton1(3) && pad.getButton1(4)) MotorDriver::shakeHead(0); + if(!pad2.getButton1(3)) MotorDriver::shakeHead(ARM_MAX_SPEED); + if(!pad2.getButton1(4)) MotorDriver::shakeHead(-ARM_MAX_SPEED); + if(pad2.getButton1(3) && pad2.getButton1(4)) MotorDriver::shakeHead(0); - if(!pad.getButton1(5)) MotorDriver::swing(ARM_MAX_SPEED); - if(!pad.getButton1(6)) MotorDriver::swing(-ARM_MAX_SPEED); - if(pad.getButton1(5) && pad.getButton1(6)) MotorDriver::swing(0); + if(!pad2.getButton1(5)) MotorDriver::swing(ARM_MAX_SPEED); + if(!pad2.getButton1(6)) MotorDriver::swing(-ARM_MAX_SPEED); + if(pad2.getButton1(5) && pad2.getButton1(6)) MotorDriver::swing(0); - if(!pad.getButton1(2)) { + if(!pad2.getButton1(2)) { MotorDriver::destroy(DESTROY_MAX_SPEED); } else { MotorDriver::destroy(0); } - if(!pad.getButton2(0)) MotorDriver::release(); + if(!pad2.getButton2(0)) MotorDriver::release(); }