File content as of revision 1:845af5425eec:

#include "bot.h"

Bot::Bot() :
    PIDC(), pad(XBee1TX, XBee1RX, ADDR), motor(MDSDA, MDSCL, solenoidPin)
{
    motor.goXY(0, 0, 0);
    motor.moveSlider(0);
    motor.destroy(0);
    motor.swing(0);
    motor.shakeHead(0);
}

void Bot::confirmAll()
{
    suc = pad.receiveState();
    PIDC::confirm();
    if(pad.getNorm(1) > 0.5) PIDC::setSetPoint(pad.getRadian(1) * (180.0 / M_PI) - M_PI / 2.0);
    if(!suc) {
        motor.goXY(0, 0, 0);
        motor.moveSlider(0);
        motor.destroy(0);
        motor.swing(0);
        motor.shakeHead(0);
    }
}

void Bot::controllDrive()
{
    if(suc) motor.goXY(pad.getStick(0) / 2.0,-pad.getStick(1) / 2.0, PIDC::co);
}

void Bot::controllMech()
{
    if(suc) {
//        if(!pad.getButton1(0)) motor.moveSlider(ARM_MAX_SPEED);
//        if(!pad.getButton1(1)) motor.moveSlider(-ARM_MAX_SPEED);
//        if(pad.getButton1(0) && pad.getButton1(1)) motor.moveSlider(0);
//
//        if(!pad.getButton1(3)) motor.shakeHead(ARM_MAX_SPEED);
//        if(!pad.getButton1(4)) motor.shakeHead(-ARM_MAX_SPEED);
//        if(pad.getButton1(3) && pad.getButton1(4)) motor.shakeHead(0);
//
        if(!pad.getButton1(5)) motor.swing(0.2);
        if(!pad.getButton1(6)) motor.swing(-0.2);
        if(pad.getButton1(5) && pad.getButton1(6)) motor.swing(0);

//
//        if(!pad.getButton1(2)) {
//            motor.destroy(DESTROY_MAX_SPEED);
//        } else {
//            motor.destroy(0);
//        }
//
//        if(!pad.getButton2(0)) motor.release();
    }
}


void Bot::calibrate()
{
    if(suc && !pad.getButton2(0) && !pad.getButton2(1) && !pad.getButton2(2) && !pad.getButton2(3)) {
        PIDC::calibration(HMC6352_ENTER_CALIB);
        motor.goXY(0, 0, 0.3);
        wait(2.0);
        motor.goXY(0, 0, 0);
        PIDC::calibration(HMC6352_EXIT_CALIB);
    }
}