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@55:ccf2ac8f6f32, 2017-11-28 (annotated)

Committer:
number_key
Date:
Tue Nov 28 17:58:04 2017 +0900
Revision:
55:ccf2ac8f6f32
Parent:
54:857390145ac4 
move

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 55:ccf2ac8f6f32 11 receiveSuccessed(0)
uchitake 1:845af5425eec 12 {
number_key 49:69a7235d837a 13 tentacle.stop();
number_key 49:69a7235d837a 14 nishijoSword.stop();
number_key 49:69a7235d837a 15 nishijo.stop();
UCHITAKE 15:9aa11febe517 16 powerSwitch = true;
uchitake 1:845af5425eec 17 }
uchitake 1:845af5425eec 18
number_key 54:857390145ac4 19 void Bot::confirmPad()
uchitake 1:845af5425eec 20 {
number_key 54:857390145ac4 21 receiveSuccessed = pad.receiveState();
number_key 55:ccf2ac8f6f32 22 // if(!pad.getButton2(3) && !pad.getButton2(0)) {
number_key 55:ccf2ac8f6f32 23 // powerSwitch = 0;
number_key 55:ccf2ac8f6f32 24 // }
number_key 54:857390145ac4 25 if(!receiveSuccessed) {
number_key 49:69a7235d837a 26 tentacle.stop();
number_key 49:69a7235d837a 27 nishijoSword.stop();
number_key 49:69a7235d837a 28 nishijo.stop();
uchitake 1:845af5425eec 29 }
uchitake 1:845af5425eec 30 }
uchitake 1:845af5425eec 31
uchitake 1:845af5425eec 32 void Bot::controllMech()
uchitake 1:845af5425eec 33 {
number_key 54:857390145ac4 34 if(receiveSuccessed) {
number_key 49:69a7235d837a 35
number_key 54:857390145ac4 36 //if(!pad.getButton1(2)&&!pad.getButton1(4)) powerSwitch=0;
number_key 54:857390145ac4 37 tentacle.leftMove(pad.getStick(3));
number_key 54:857390145ac4 38 tentacle.rightMove(pad.getStick(1));
number_key 49:69a7235d837a 39
number_key 54:857390145ac4 40 if (!pad.getButton2(0)) nishijoSword.move(-WIND_UP_SPEED);
number_key 54:857390145ac4 41 if (!pad.getButton2(1)) nishijoSword.move(WIND_UP_SPEED);
number_key 54:857390145ac4 42 if(pad.getButton2(0) && pad.getButton2(1)) nishijoSword.move(0);
takeuchi 36:c1398ea8f604 43
number_key 55:ccf2ac8f6f32 44 if (!pad.getButton2(2)) nishijo.move(-SWORD_SPEED);
number_key 55:ccf2ac8f6f32 45 if (!pad.getButton2(3)) nishijo.move(SWORD_SPEED);
number_key 54:857390145ac4 46 if(pad.getButton2(2) && pad.getButton2(3)) nishijo.move(0);
number_key 49:69a7235d837a 47 } else {
number_key 49:69a7235d837a 48 tentacle.stop();
number_key 49:69a7235d837a 49 nishijoSword.stop();
number_key 49:69a7235d837a 50 nishijo.stop();
number_key 49:69a7235d837a 51 }
uchitake 1:845af5425eec 52 }