NHK2017 octopus robot
Dependencies: 2017NHKpin_config mbed FEP ikarashiMDC PID jy901 omni HMC6352 omni_wheel
Fork of KANI2017v2 by
Diff: bot/bot.cpp
- Revision:
- 18:6f52f4b1086a
- Parent:
- 16:86958857c739
- Child:
- 20:477c5d039e93
diff -r 86958857c739 -r 6f52f4b1086a bot/bot.cpp --- a/bot/bot.cpp Wed Aug 30 16:33:24 2017 +0900 +++ b/bot/bot.cpp Wed Aug 30 17:14:11 2017 +0900 @@ -1,6 +1,7 @@ #include "bot.h" -Bot::Bot() : MotorDriver(), PIDC(), pad(XBee1TX, XBee1RX, ADDR) +Bot::Bot() : +PIDC(), pad(XBee1TX, XBee1RX, ADDR), motor(MDSDA, MDSCL, solenoidPin) { } @@ -13,28 +14,28 @@ void Bot::controllDrive() { - MotorDriver::goXY(pad.getStick(0),pad.getStick(1), PIDC::co); + motor.goXY(pad.getStick(0),pad.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(!pad.getButton1(0)) motor.moveSlider(ARM_MAX_SPEED); + if(!pad.getButton1(1)) motor.moveSlider(-ARM_MAX_SPEED); + if(pad.getButton1(0) && pad.getButton1(1)) motor.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(!pad.getButton1(3)) motor.shakeHead(ARM_MAX_SPEED); + if(!pad.getButton1(4)) motor.shakeHead(-ARM_MAX_SPEED); + if(pad.getButton1(3) && pad.getButton1(4)) motor.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(!pad.getButton1(5)) motor.swing(ARM_MAX_SPEED); + if(!pad.getButton1(6)) motor.swing(-ARM_MAX_SPEED); + if(pad.getButton1(5) && pad.getButton1(6)) motor.swing(0); if(!pad.getButton1(2)) { - MotorDriver::destroy(DESTROY_MAX_SPEED); + motor.destroy(DESTROY_MAX_SPEED); } else { - MotorDriver::destroy(0); + motor.destroy(0); } - if(!pad.getButton2(0)) MotorDriver::release(); + if(!pad.getButton2(0)) motor.release(); }