Diff: bot/bot.h

Revision:

49:69a7235d837a

Parent:

41:ae6f844facb1

Child:

50:3a7c858aa0f9

--- a/bot/bot.h	Mon Nov 06 18:34:02 2017 +0900
+++ b/bot/bot.h	Sat Nov 11 17:40:10 2017 +0900
@@ -9,12 +9,12 @@
 #include "pin_config.h"
 #include "controller.h"
 #include "PID_controller.h"
-#include "slider.h"
+#include "tentacle_unit.h"
+#include "elevator.h"
+#include "sword_unit.h"
 #include "wheel_unit.h"
+#include "def.h"
 
-const int ROLL = 0;
-const int SWORD = 1;
-const int DESTROY = 2;
 const float ADJUST_DEGREE = 5.0;
 /**
 * @brief ロボットのクラス
@@ -30,7 +30,8 @@
     /**
     * @brief センサなどの値を更新
     */
-    void confirmAll();
+    void confirmPad1();
+    void confirmPad2();
 
     /**
     * @brief 足回りの制御
@@ -50,17 +51,24 @@
      */
     void calibrate();
 
+    void checkConnection();
+
+    void checkDegree();
+
 private :
-    Controller pad;
+    Controller pad1;
+    Controller pad2;
     Serial RS485;
     DigitalOut RS485Controller;
     DigitalOut powerSwitch;
     WheelUnit quadOmni;
-    Slider slider;
-    ikarashiMDC armMotor[3];
+    Tentacle tentacle;
+    Elevator nishijoSword;
+    Sword nishijo;
     PIDC plane;
     PIDC axis;
-    bool receiveSuccessed;
+    bool receiveSuccessed1;
+    bool receiveSuccessed2;
     float frontDegree;
     DigitalOut led[3];
     Serial debugSerial;