タコ 腕
Dependencies: 2017NHKpin_config FEP ikarashiMDC
Fork of NHK2017_octopus2 by
bot/bot.cpp@55:ccf2ac8f6f32, 2017-11-28 (annotated)
- Committer:
- number_key
- Date:
- Tue Nov 28 17:58:04 2017 +0900
- Revision:
- 55:ccf2ac8f6f32
- Parent:
- 54:857390145ac4
move
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 |
55:ccf2ac8f6f32 | 11 | receiveSuccessed(0) |
uchitake |
1:845af5425eec | 12 | { |
number_key |
49:69a7235d837a | 13 | tentacle.stop(); |
number_key |
49:69a7235d837a | 14 | nishijoSword.stop(); |
number_key |
49:69a7235d837a | 15 | nishijo.stop(); |
UCHITAKE |
15:9aa11febe517 | 16 | powerSwitch = true; |
uchitake |
1:845af5425eec | 17 | } |
uchitake |
1:845af5425eec | 18 | |
number_key |
54:857390145ac4 | 19 | void Bot::confirmPad() |
uchitake |
1:845af5425eec | 20 | { |
number_key |
54:857390145ac4 | 21 | receiveSuccessed = pad.receiveState(); |
number_key |
55:ccf2ac8f6f32 | 22 | // if(!pad.getButton2(3) && !pad.getButton2(0)) { |
number_key |
55:ccf2ac8f6f32 | 23 | // powerSwitch = 0; |
number_key |
55:ccf2ac8f6f32 | 24 | // } |
number_key |
54:857390145ac4 | 25 | if(!receiveSuccessed) { |
number_key |
49:69a7235d837a | 26 | tentacle.stop(); |
number_key |
49:69a7235d837a | 27 | nishijoSword.stop(); |
number_key |
49:69a7235d837a | 28 | nishijo.stop(); |
uchitake |
1:845af5425eec | 29 | } |
uchitake |
1:845af5425eec | 30 | } |
uchitake |
1:845af5425eec | 31 | |
uchitake |
1:845af5425eec | 32 | void Bot::controllMech() |
uchitake |
1:845af5425eec | 33 | { |
number_key |
54:857390145ac4 | 34 | if(receiveSuccessed) { |
number_key |
49:69a7235d837a | 35 | |
number_key |
54:857390145ac4 | 36 | //if(!pad.getButton1(2)&&!pad.getButton1(4)) powerSwitch=0; |
number_key |
54:857390145ac4 | 37 | tentacle.leftMove(pad.getStick(3)); |
number_key |
54:857390145ac4 | 38 | tentacle.rightMove(pad.getStick(1)); |
number_key |
49:69a7235d837a | 39 | |
number_key |
54:857390145ac4 | 40 | if (!pad.getButton2(0)) nishijoSword.move(-WIND_UP_SPEED); |
number_key |
54:857390145ac4 | 41 | if (!pad.getButton2(1)) nishijoSword.move(WIND_UP_SPEED); |
number_key |
54:857390145ac4 | 42 | if(pad.getButton2(0) && pad.getButton2(1)) nishijoSword.move(0); |
takeuchi |
36:c1398ea8f604 | 43 | |
number_key |
55:ccf2ac8f6f32 | 44 | if (!pad.getButton2(2)) nishijo.move(-SWORD_SPEED); |
number_key |
55:ccf2ac8f6f32 | 45 | if (!pad.getButton2(3)) nishijo.move(SWORD_SPEED); |
number_key |
54:857390145ac4 | 46 | if(pad.getButton2(2) && pad.getButton2(3)) nishijo.move(0); |
number_key |
49:69a7235d837a | 47 | } else { |
number_key |
49:69a7235d837a | 48 | tentacle.stop(); |
number_key |
49:69a7235d837a | 49 | nishijoSword.stop(); |
number_key |
49:69a7235d837a | 50 | nishijo.stop(); |
number_key |
49:69a7235d837a | 51 | } |
uchitake |
1:845af5425eec | 52 | } |