タコ 腕
Dependencies: 2017NHKpin_config FEP ikarashiMDC
Fork of NHK2017_octopus2 by
bot/bot.cpp@54:857390145ac4, 2017-11-23 (annotated)
- Committer:
- number_key
- Date:
- Thu Nov 23 14:59:59 2017 +0900
- Revision:
- 54:857390145ac4
- Parent:
- 52:320f910ca6ca
- Child:
- 55:ccf2ac8f6f32
first success
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
uchitake |
1:845af5425eec | 1 | #include "bot.h" |
uchitake |
1:845af5425eec | 2 | |
uchitake |
1:845af5425eec | 3 | Bot::Bot() : |
number_key |
54:857390145ac4 | 4 | pad(FEPTX, FEPRX, ADDR2), |
number_key |
50:3a7c858aa0f9 | 5 | RS485(MDTX, MDRX, 115200), |
number_key |
54:857390145ac4 | 6 | RS485Controller(NC), |
UCHITAKE |
15:9aa11febe517 | 7 | powerSwitch(MDstop), |
number_key |
49:69a7235d837a | 8 | tentacle(&RS485Controller, &RS485), |
number_key |
49:69a7235d837a | 9 | nishijoSword(&RS485Controller, &RS485), |
number_key |
49:69a7235d837a | 10 | nishijo(&RS485Controller, &RS485), |
number_key |
54:857390145ac4 | 11 | receiveSuccessed(0), |
uchitake |
9:39be1525dfe0 | 12 | debugSerial(USBTX, USBRX, 115200) |
uchitake |
1:845af5425eec | 13 | { |
takeuchi |
47:43f55ff8916b | 14 | debugSerial.printf("OK\r\n"); |
uchitake |
9:39be1525dfe0 | 15 | |
number_key |
49:69a7235d837a | 16 | tentacle.stop(); |
number_key |
49:69a7235d837a | 17 | nishijoSword.stop(); |
number_key |
49:69a7235d837a | 18 | nishijo.stop(); |
UCHITAKE |
15:9aa11febe517 | 19 | powerSwitch = true; |
uchitake |
1:845af5425eec | 20 | } |
uchitake |
1:845af5425eec | 21 | |
number_key |
54:857390145ac4 | 22 | void Bot::confirmPad() |
uchitake |
1:845af5425eec | 23 | { |
number_key |
54:857390145ac4 | 24 | receiveSuccessed = pad.receiveState(); |
number_key |
54:857390145ac4 | 25 | if(!pad.getButton2(3) && !pad.getButton2(0)) { |
uchitake |
16:50651ff960b9 | 26 | powerSwitch = 0; |
uchitake |
16:50651ff960b9 | 27 | } |
number_key |
54:857390145ac4 | 28 | if(!receiveSuccessed) { |
number_key |
49:69a7235d837a | 29 | tentacle.stop(); |
number_key |
49:69a7235d837a | 30 | nishijoSword.stop(); |
number_key |
49:69a7235d837a | 31 | nishijo.stop(); |
uchitake |
1:845af5425eec | 32 | } |
uchitake |
1:845af5425eec | 33 | } |
uchitake |
1:845af5425eec | 34 | |
uchitake |
1:845af5425eec | 35 | void Bot::controllMech() |
uchitake |
1:845af5425eec | 36 | { |
number_key |
54:857390145ac4 | 37 | if(receiveSuccessed) { |
number_key |
49:69a7235d837a | 38 | |
number_key |
54:857390145ac4 | 39 | //if(!pad.getButton1(2)&&!pad.getButton1(4)) powerSwitch=0; |
number_key |
54:857390145ac4 | 40 | tentacle.leftMove(pad.getStick(3)); |
number_key |
54:857390145ac4 | 41 | tentacle.rightMove(pad.getStick(1)); |
number_key |
49:69a7235d837a | 42 | |
number_key |
54:857390145ac4 | 43 | if (!pad.getButton2(0)) nishijoSword.move(-WIND_UP_SPEED); |
number_key |
54:857390145ac4 | 44 | if (!pad.getButton2(1)) nishijoSword.move(WIND_UP_SPEED); |
number_key |
54:857390145ac4 | 45 | if(pad.getButton2(0) && pad.getButton2(1)) nishijoSword.move(0); |
takeuchi |
36:c1398ea8f604 | 46 | |
number_key |
54:857390145ac4 | 47 | if (!pad.getButton2(3)) nishijo.move(-SWORD_SPEED); |
number_key |
54:857390145ac4 | 48 | if (!pad.getButton2(2)) nishijo.move(SWORD_SPEED); |
number_key |
54:857390145ac4 | 49 | if(pad.getButton2(2) && pad.getButton2(3)) nishijo.move(0); |
number_key |
49:69a7235d837a | 50 | } else { |
number_key |
49:69a7235d837a | 51 | tentacle.stop(); |
number_key |
49:69a7235d837a | 52 | nishijoSword.stop(); |
number_key |
49:69a7235d837a | 53 | nishijo.stop(); |
number_key |
49:69a7235d837a | 54 | } |
uchitake |
1:845af5425eec | 55 | } |
uchitake |
1:845af5425eec | 56 | |
number_key |
49:69a7235d837a | 57 | void Bot::checkConnection() |
number_key |
49:69a7235d837a | 58 | { |
number_key |
54:857390145ac4 | 59 | if(receiveSuccessed == 1) debugSerial.printf("ON\r\n"); |
number_key |
54:857390145ac4 | 60 | else debugSerial.printf("OFF"); |
number_key |
52:320f910ca6ca | 61 | } |
number_key |
52:320f910ca6ca | 62 | |
number_key |
52:320f910ca6ca | 63 | void Bot::checkReceiveData() |
number_key |
52:320f910ca6ca | 64 | { |
number_key |
54:857390145ac4 | 65 | debugSerial.printf("%f %f %f %f\r\n",pad.getStick(0),pad.getStick(1),pad.getStick(2),pad.getStick(3)); |
number_key |
52:320f910ca6ca | 66 | } |