NagaokaRoboticsClub_mbedTeam / Mbed OS NHK2017_octopus2_arms

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Dependencies:   2017NHKpin_config FEP ikarashiMDC

Fork of NHK2017_octopus2 by NagaokaRoboticsClub_mbedTeam

Diff: bot/bot.h

Revision:
9:39be1525dfe0
Parent:
6:fe9767a50891
Child:
14:1fadf7d2f583
--- a/bot/bot.h	Thu Sep 07 11:45:33 2017 +0900
+++ b/bot/bot.h	Thu Sep 07 17:37:41 2017 +0900
@@ -7,12 +7,12 @@
 
 #include "mbed.h"
 #include "pin_config.h"
-#include "motor_driver.h"
 #include "controller.h"
 #include "PID_controller.h"
+#include "slider.h"
+#include "wheel_unit.h"
 
-#define ARM_MAX_SPEED 1
-#define DESTROY_MAX_SPEED 1
+const int SWORD = 1;
 
 /**
 * @brief ロボットのクラス
@@ -45,9 +45,14 @@
 
 private :
     Controller pad;
-    MotorDriver motor;
+    Serial RS485;
+    DigitalOut RS485Controller;
+    DigitalOut powerSwitch;
+    WheelUnit quadOmni;
+    Slider slider;
+    ikarashiMDC armMotor[3];
     bool receiveSuccessed;
-    DigitalOut led[4];
+    DigitalOut led[8];
     Serial debugSerial;
 };