タコ 腕

Dependencies:   2017NHKpin_config FEP ikarashiMDC

Fork of NHK2017_octopus2 by NagaokaRoboticsClub_mbedTeam

bot/bot.h

Committer:
uchitake
Date:
2017-09-07
Revision:
9:39be1525dfe0
Parent:
6:fe9767a50891
Child:
14:1fadf7d2f583

File content as of revision 9:39be1525dfe0:

/**
* @file bot.h
* @brief ロボットのクラス
*/
#ifndef BOT_H
#define BOT_H

#include "mbed.h"
#include "pin_config.h"
#include "controller.h"
#include "PID_controller.h"
#include "slider.h"
#include "wheel_unit.h"

const int SWORD = 1;

/**
* @brief ロボットのクラス
*/
class Bot : public PIDC
{
public :
    /**
    * @brief コンストラクタ
    */
    Bot();

    /**
    * @brief センサなどの値を更新
    */
    void confirmAll();

    /**
    * @brief 足回りの制御
    */
    void controllDrive();
    void controllDrive2();

    /**
    * @brief 機構部の制御
    */
    void controllMech();

    void calibrate();

private :
    Controller pad;
    Serial RS485;
    DigitalOut RS485Controller;
    DigitalOut powerSwitch;
    WheelUnit quadOmni;
    Slider slider;
    ikarashiMDC armMotor[3];
    bool receiveSuccessed;
    DigitalOut led[8];
    Serial debugSerial;
};

#endif//BOT_H