Diff: bot/bot.h

Revision:

54:857390145ac4

Parent:

52:320f910ca6ca

Child:

55:ccf2ac8f6f32

--- a/bot/bot.h	Thu Nov 23 04:15:02 2017 +0000
+++ b/bot/bot.h	Thu Nov 23 14:59:59 2017 +0900
@@ -6,17 +6,13 @@
 #define BOT_H
 
 #include "mbed.h"
-#include "math.h"
 #include "pin_config.h"
 #include "controller.h"
-#include "PID_controller.h"
 #include "tentacle_unit.h"
 #include "elevator.h"
 #include "sword_unit.h"
-#include "wheel_unit.h"
 #include "def.h"
 
-const float ADJUST_DEGREE = 5.0;
 /**
 * @brief ロボットのクラス
 */
@@ -31,52 +27,27 @@
     /**
     * @brief センサなどの値を更新
     */
-    void confirmPad1();
-    void confirmPad2();
-
-    /**
-    * @brief 足回りの制御
-    */
-    void controllDrive();
-    void controllDrive2();
-    void controllDrive3();
-    void controllDrive4();
+    void confirmPad();
 
     /**
     * @brief 機構部の制御
     */
     void controllMech();
 
-    /**
-     * センサのキャリブレーション
-     */
-    void calibrate();
-
     void checkConnection();
 
-    void checkDegree();
-
-    void checkPacket();
-
     void checkReceiveData();
 
 private :
-    Controller pad1;
-    Controller pad2;
+    Controller pad;
     Serial RS485;
     DigitalOut RS485Controller;
     DigitalOut powerSwitch;
-    WheelUnit quadOmni;
     Tentacle tentacle;
     Elevator nishijoSword;
     Sword nishijo;
-    PIDC plane;
-    PIDC axis;
-    int receiveSuccessed1;
-    int receiveSuccessed2;
-    float frontDegree;
+    bool receiveSuccessed;
     Serial debugSerial;
-    Timer t;
 };
 
 #endif//BOT_H