File content as of revision 28:676330f1d186:

#include "bot.h"

Bot::Bot() :
    PIDC(),
    pad(XBee2TX, XBee2RX, ADDR),
    RS485(MDTX, MDRX, 38400),
    RS485Controller(PWM1),
    powerSwitch(MDstop),
    quadOmni(&RS485Controller, &RS485),
    slider(&RS485Controller, &RS485),
    armMotor({
        ikarashiMDC({&RS485Controller, 1, 1, SM, &RS485}),
        ikarashiMDC({&RS485Controller, 1, 2, SM, &RS485}),
        ikarashiMDC({&RS485Controller, 1, 3, SM, &RS485})
    }),
    receiveSuccessed(0),
    frontDegree(0),
    led({DebugLED3, DebugLED4, DebugLED5}),
    debugSerial(USBTX, USBRX, 115200)
{
    for(int i = 0; i < 3; i++) {
        armMotor[i].braking = true;
    }

    quadOmni.moveXY(0, 0, 0);

    powerSwitch = true;
    for(int i = 0; i < 3; i++) {
        led[i] = true;
        wait(0.1);
        led[i] = false;
    }
}

void Bot::confirmAll()
{
    receiveSuccessed = pad.receiveState();
    if(!pad.getButton2(3) && !pad.getButton2(0)) {
        powerSwitch = 0;
    }
    led[0] = receiveSuccessed;
    if(!receiveSuccessed) {
        quadOmni.moveXY(0, 0, 0);
        slider.slide(0);
        for(int i = 0; i < 3; i++) {
            armMotor[i].setSpeed(0);
        }
    }
}

void Bot::controllDrive()
{
    if(receiveSuccessed) {
        debugSerial.printf("%d\n\r", PIDC::getRawDegree());
        led[1] = !led[1];
        if(pad.getNorm(1) > 0.5) {
            PIDC::PID::setSetPoint((pad.getRadian(1) - M_PI / 2) * (180.0 / M_PI));
            PIDC::confirm();
        }
        quadOmni.moveXY(
            pad.getStick(0),
            -pad.getStick(1),
            0,
            0,
            - pad.getStick(2) / 3.0 // PIDC::calculationResult
        );
    } else {
        quadOmni.moveXY(0, 0, 0);
    }
}

void Bot::controllDrive2()
{
    float moment = 0;
    static float beforestick = pad.getStick(2);

    if(!pad.getButton2(2)) {
        PIDC::resetPlaneOffset();
    }

    if((beforestick >= 0.5 && pad.getStick(2) < 0.5) || (beforestick <= -0.5 && pad.getStick(2) > -0.5)) {
        PIDC::PID::setSetPoint(0.0);
        PIDC::resetAxisOffset();
    }

    if(pad.getStick(2) > 0.5 || pad.getStick(2) < -0.5) {
        moment = pad.getStick(2) / 4.0;
        PIDC::confirm();
    }
    if(fabs(pad.getStick(2)) < 0.5) {
        PIDC::confirm();
        moment = PIDC::calculationResult;
    }

    if(receiveSuccessed) {
        led[1] = !led[1];
        quadOmni.moveCircular(
            pad.getNorm(0) / 2.0,
            pad.getRadian(0) - PIDC::planeCurrentDegree / 10.0 * (M_PI / 180.0) + M_PI,
            moment
        );
    } else {
        quadOmni.moveXY(0, 0, 0);
    }
    beforestick = pad.getStick(2);
}

void Bot::controllDrive3()
{
    static int rollR = 0;
    static int rollL = 0;
    static int mode = 1;
    if(receiveSuccessed) {
        if(rollR && !pad.getButton2(2)) {
            frontDegree += ADJUST_DEGREE;
        }
        rollR = pad.getButton2(2);

        if(rollL && !pad.getButton2(0)) {
            frontDegree -= ADJUST_DEGREE;
        }
        rollL = pad.getButton2(0);

        if(!pad.getButton2(4)) {
            mode = 1;
        }

        if(!pad.getButton2(5)) {
            mode = 2;
        }

        if(mode == 1) {
            PIDC::PID::setSetPoint(frontDegree);
            PIDC::confirm();

            quadOmni.moveXY(
                pad.getStick(0),
                -pad.getStick(1),
                0.5,
                0.5,
                -PIDC::calculationResult
            );
        }
        if(mode == 2) {
            PIDC::PID::setSetPoint(90.0 + frontDegree);
            PIDC::confirm();

            quadOmni.moveXY(
                -pad.getStick(1),
                -pad.getStick(0),
                0.5,
                0.5,
                -PIDC::calculationResult
            );
        }
    } else {
        quadOmni.moveXY(0, 0, 0);
    }
}

void Bot::controllMech()
{
    if(receiveSuccessed) {
        if(!pad.getButton1(6)) {
            armMotor[SWORD].setSpeed(0.6);
        }
        if(pad.getButton1(6)) armMotor[SWORD].setSpeed(0.0);

        slider.slide(pad.getStick(3));

        if(!pad.getButton2(1)) {
            armMotor[DESTROY].setSpeed(-1.0);
        } else {
            armMotor[DESTROY].setSpeed(0.0);
        }
   } else {
       slider.slide(0);
       for(int i = 0; i < 3; i++) {
           armMotor[i].setSpeed(0);
       }
   }
}


void Bot::calibrate()
{
    if(receiveSuccessed &&
         !pad.getButton2(0) &&
         !pad.getButton2(1)
     ) {
        t.start();
        t.reset();
        PIDC::calibration(HMC6352_ENTER_CALIB);
        while(t.read() < 5.0) {
            quadOmni.moveXY(0, 0, 0.4);
            slider.slide(0);
            for(int i = 0; i < 3; i++) {
                armMotor[i].setSpeed(0);
            }
        }
        t.stop();
        quadOmni.moveXY(0, 0, 0);
        PIDC::calibration(HMC6352_EXIT_CALIB);
    }
}