NagaokaRoboticsClub_mbedTeam / Mbed OS NHK2017_octopus2_arms

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Dependencies:   2017NHKpin_config FEP ikarashiMDC

Fork of NHK2017_octopus2 by NagaokaRoboticsClub_mbedTeam

bot/bot.cpp@54:857390145ac4, 2017-11-23 (annotated)

Committer:
number_key
Date:
Thu Nov 23 14:59:59 2017 +0900
Revision:
54:857390145ac4
Parent:
52:320f910ca6ca
Child:
55:ccf2ac8f6f32
first success

Who changed what in which revision?

UserRevisionLine numberNew contents of line
uchitake 1:845af5425eec 1 #include "bot.h"
uchitake 1:845af5425eec 2
uchitake 1:845af5425eec 3 Bot::Bot() :
number_key 54:857390145ac4 4 pad(FEPTX, FEPRX, ADDR2),
number_key 50:3a7c858aa0f9 5 RS485(MDTX, MDRX, 115200),
number_key 54:857390145ac4 6 RS485Controller(NC),
UCHITAKE 15:9aa11febe517 7 powerSwitch(MDstop),
number_key 49:69a7235d837a 8 tentacle(&RS485Controller, &RS485),
number_key 49:69a7235d837a 9 nishijoSword(&RS485Controller, &RS485),
number_key 49:69a7235d837a 10 nishijo(&RS485Controller, &RS485),
number_key 54:857390145ac4 11 receiveSuccessed(0),
uchitake 9:39be1525dfe0 12 debugSerial(USBTX, USBRX, 115200)
uchitake 1:845af5425eec 13 {
takeuchi 47:43f55ff8916b 14 debugSerial.printf("OK\r\n");
uchitake 9:39be1525dfe0 15
number_key 49:69a7235d837a 16 tentacle.stop();
number_key 49:69a7235d837a 17 nishijoSword.stop();
number_key 49:69a7235d837a 18 nishijo.stop();
UCHITAKE 15:9aa11febe517 19 powerSwitch = true;
uchitake 1:845af5425eec 20 }
uchitake 1:845af5425eec 21
number_key 54:857390145ac4 22 void Bot::confirmPad()
uchitake 1:845af5425eec 23 {
number_key 54:857390145ac4 24 receiveSuccessed = pad.receiveState();
number_key 54:857390145ac4 25 if(!pad.getButton2(3) && !pad.getButton2(0)) {
uchitake 16:50651ff960b9 26 powerSwitch = 0;
uchitake 16:50651ff960b9 27 }
number_key 54:857390145ac4 28 if(!receiveSuccessed) {
number_key 49:69a7235d837a 29 tentacle.stop();
number_key 49:69a7235d837a 30 nishijoSword.stop();
number_key 49:69a7235d837a 31 nishijo.stop();
uchitake 1:845af5425eec 32 }
uchitake 1:845af5425eec 33 }
uchitake 1:845af5425eec 34
uchitake 1:845af5425eec 35 void Bot::controllMech()
uchitake 1:845af5425eec 36 {
number_key 54:857390145ac4 37 if(receiveSuccessed) {
number_key 49:69a7235d837a 38
number_key 54:857390145ac4 39 //if(!pad.getButton1(2)&&!pad.getButton1(4)) powerSwitch=0;
number_key 54:857390145ac4 40 tentacle.leftMove(pad.getStick(3));
number_key 54:857390145ac4 41 tentacle.rightMove(pad.getStick(1));
number_key 49:69a7235d837a 42
number_key 54:857390145ac4 43 if (!pad.getButton2(0)) nishijoSword.move(-WIND_UP_SPEED);
number_key 54:857390145ac4 44 if (!pad.getButton2(1)) nishijoSword.move(WIND_UP_SPEED);
number_key 54:857390145ac4 45 if(pad.getButton2(0) && pad.getButton2(1)) nishijoSword.move(0);
takeuchi 36:c1398ea8f604 46
number_key 54:857390145ac4 47 if (!pad.getButton2(3)) nishijo.move(-SWORD_SPEED);
number_key 54:857390145ac4 48 if (!pad.getButton2(2)) nishijo.move(SWORD_SPEED);
number_key 54:857390145ac4 49 if(pad.getButton2(2) && pad.getButton2(3)) nishijo.move(0);
number_key 49:69a7235d837a 50 } else {
number_key 49:69a7235d837a 51 tentacle.stop();
number_key 49:69a7235d837a 52 nishijoSword.stop();
number_key 49:69a7235d837a 53 nishijo.stop();
number_key 49:69a7235d837a 54 }
uchitake 1:845af5425eec 55 }
uchitake 1:845af5425eec 56
number_key 49:69a7235d837a 57 void Bot::checkConnection()
number_key 49:69a7235d837a 58 {
number_key 54:857390145ac4 59 if(receiveSuccessed == 1) debugSerial.printf("ON\r\n");
number_key 54:857390145ac4 60 else debugSerial.printf("OFF");
number_key 52:320f910ca6ca 61 }
number_key 52:320f910ca6ca 62
number_key 52:320f910ca6ca 63 void Bot::checkReceiveData()
number_key 52:320f910ca6ca 64 {
number_key 54:857390145ac4 65 debugSerial.printf("%f %f %f %f\r\n",pad.getStick(0),pad.getStick(1),pad.getStick(2),pad.getStick(3));
number_key 52:320f910ca6ca 66 }