Diff: bot/bot.cpp

Branch:

develop

Revision:

32:b619c7787dc3

Parent:

29:41f6fc4c8962

Child:

35:4608938f67c5

--- a/bot/bot.cpp	Thu Oct 05 20:09:43 2017 +0900
+++ b/bot/bot.cpp	Fri Oct 06 20:12:29 2017 +0900
@@ -1,7 +1,6 @@
 #include "bot.h"
 
 Bot::Bot() :
-    PIDC(),
     pad(XBee2TX, XBee2RX, ADDR),
     RS485(MDTX, MDRX, 38400),
     RS485Controller(PWM1),
@@ -51,11 +50,11 @@
 void Bot::controllDrive()
 {
     if(receiveSuccessed) {
-        debugSerial.printf("%d\n\r", PIDC::getRawDegree());
+        debugSerial.printf("%d\n\r", plane.getRawDegree());
         led[1] = !led[1];
         if(pad.getNorm(1) > 0.5) {
-            PIDC::PID::setSetPoint((pad.getRadian(1) - M_PI / 2) * (180.0 / M_PI));
-            PIDC::confirm();
+            plane.setSetPoint((pad.getRadian(1) - M_PI / 2) * (180.0 / M_PI));
+            plane.confirm();
         }
         quadOmni.moveXY(
             pad.getStick(0),
@@ -71,30 +70,31 @@
 
 void Bot::controllDrive2()
 {
-    PIDC::confirm();
+    plane.confirm();
+    axis.confirm();
     float moment = 0;
     static float beforestick = pad.getStick(2);
 
     if(!pad.getButton2(2)) {
-        PIDC::resetPlaneOffset();
+        axis.resetOffset();
     }
 
     if((beforestick >= 0.5 && pad.getStick(2) < 0.5) || (beforestick <= -0.5 && pad.getStick(2) > -0.5)) {
-        PIDC::PID::setSetPoint(0.0);
-        PIDC::resetAxisOffset();
+        plane.setSetPoint(0.0);
+        plane.resetOffset();
     }
 
     if(pad.getStick(2) > 0.5 || pad.getStick(2) < -0.5) {
         moment = pad.getStick(2) / 2.0;
     } else  {
-        moment = PIDC::calculationResult;
+        moment = plane.getCalculationResult();
     }
 
     if(receiveSuccessed) {
         led[1] = !led[1];
         quadOmni.moveCircular(
             pad.getNorm(0),
-            pad.getRadian(0) - PIDC::planeCurrentDegree / 10.0 * (M_PI / 180.0) + M_PI,
+            pad.getRadian(0) - axis.getCurrentDegree() / 10.0 * (M_PI / 180.0) + M_PI,
             0.5,
             0.5,
             -moment
@@ -130,27 +130,27 @@
         }
 
         if(mode == 1) {
-            PIDC::PID::setSetPoint(frontDegree);
-            PIDC::confirm();
+            plane.setPoint(frontDegree);
+            plane.confirm();
 
             quadOmni.moveXY(
                 pad.getStick(0),
                 -pad.getStick(1),
                 0.5,
                 0.5,
-                -PIDC::calculationResult
+                -plane.getCalculationResult()
             );
         }
         if(mode == 2) {
-            PIDC::PID::setSetPoint(90.0 + frontDegree);
-            PIDC::confirm();
+            plane.setPoint(90.0 + frontDegree);
+            plane.confirm();
 
             quadOmni.moveXY(
                 -pad.getStick(1),
                 -pad.getStick(0),
                 0.5,
                 0.5,
-                -PIDC::calculationResult
+                -plane.getCalculationResult()
             );
         }
     } else {
@@ -190,7 +190,7 @@
      ) {
         t.start();
         t.reset();
-        PIDC::calibration(HMC6352_ENTER_CALIB);
+        plane.calibration(HMC6352_ENTER_CALIB);
         while(t.read() < 5.0) {
             quadOmni.moveXY(0, 0, 0.4);
             slider.slide(0);
@@ -200,6 +200,6 @@
         }
         t.stop();
         quadOmni.moveXY(0, 0, 0);
-        PIDC::calibration(HMC6352_EXIT_CALIB);
+        plane.calibration(HMC6352_EXIT_CALIB);
     }
 }