NagaokaRoboticsClub_mbedTeam / Mbed OS NHK2017_octopus2_arms

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Dependencies:   2017NHKpin_config FEP ikarashiMDC

Fork of NHK2017_octopus2 by NagaokaRoboticsClub_mbedTeam

bot/bot.h@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?

UserRevisionLine numberNew contents of line
uchitake 1:845af5425eec 1 /**
uchitake 1:845af5425eec 2 * @file bot.h
uchitake 1:845af5425eec 3 * @brief ロボットのクラス
uchitake 1:845af5425eec 4 */
uchitake 1:845af5425eec 5 #ifndef BOT_H
uchitake 1:845af5425eec 6 #define BOT_H
uchitake 1:845af5425eec 7
uchitake 1:845af5425eec 8 #include "mbed.h"
uchitake 1:845af5425eec 9 #include "pin_config.h"
uchitake 1:845af5425eec 10 #include "controller.h"
number_key 49:69a7235d837a 11 #include "tentacle_unit.h"
number_key 49:69a7235d837a 12 #include "elevator.h"
number_key 49:69a7235d837a 13 #include "sword_unit.h"
number_key 49:69a7235d837a 14 #include "def.h"
uchitake 1:845af5425eec 15
uchitake 1:845af5425eec 16 /**
uchitake 1:845af5425eec 17 * @brief ロボットのクラス
uchitake 1:845af5425eec 18 */
takeuchi 32:b619c7787dc3 19 class Bot
uchitake 1:845af5425eec 20 {
uchitake 1:845af5425eec 21 public :
uchitake 1:845af5425eec 22 /**
uchitake 1:845af5425eec 23 * @brief コンストラクタ
uchitake 1:845af5425eec 24 */
uchitake 1:845af5425eec 25 Bot();
uchitake 1:845af5425eec 26
uchitake 1:845af5425eec 27 /**
uchitake 1:845af5425eec 28 * @brief センサなどの値を更新
uchitake 1:845af5425eec 29 */
number_key 54:857390145ac4 30 void confirmPad();
uchitake 1:845af5425eec 31
uchitake 1:845af5425eec 32 /**
uchitake 1:845af5425eec 33 * @brief 機構部の制御
uchitake 1:845af5425eec 34 */
uchitake 1:845af5425eec 35 void controllMech();
uchitake 3:369d9ee17e84 36
number_key 49:69a7235d837a 37 void checkConnection();
number_key 49:69a7235d837a 38
number_key 52:320f910ca6ca 39 void checkReceiveData();
number_key 52:320f910ca6ca 40
uchitake 1:845af5425eec 41 private :
number_key 54:857390145ac4 42 Controller pad;
uchitake 9:39be1525dfe0 43 Serial RS485;
uchitake 9:39be1525dfe0 44 DigitalOut RS485Controller;
uchitake 9:39be1525dfe0 45 DigitalOut powerSwitch;
number_key 49:69a7235d837a 46 Tentacle tentacle;
number_key 49:69a7235d837a 47 Elevator nishijoSword;
number_key 49:69a7235d837a 48 Sword nishijo;
number_key 54:857390145ac4 49 bool receiveSuccessed;
uchitake 5:16ea97725085 50 Serial debugSerial;
uchitake 1:845af5425eec 51 };
uchitake 1:845af5425eec 52
uchitake 1:845af5425eec 53 #endif//BOT_H