タコ 腕
Dependencies: 2017NHKpin_config FEP ikarashiMDC
Fork of NHK2017_octopus2 by
Diff: classDiagram.pu
- Revision:
- 1:845af5425eec
diff -r f022e319d359 -r 845af5425eec classDiagram.pu --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/classDiagram.pu Tue Sep 05 16:11:20 2017 +0900 @@ -0,0 +1,107 @@ +@startuml + +class Bot { + +Bot() + +confirmAll() + +controllDrive() + +controllMech() + +calibrate() + + ~pad + ~motor + -suc +} + +class Controller { + +Controller() + +receiveState() + +getButton1() + +getButton2() + +getStick() + +getRadian() + +getNorm() + + -setStick() + -data[6] + -fepTemp + + #button1[7] + #button2[6] + #stick[4] + #radian[2] + #norm[2] +} + +class MotorDriver { + +MotorDriver() + +moveSlider() + +destroy() + +swing() + +shakeHead() + +release() + +goXY() + +goCircular() + + ~arm + ~quadOmni + ~solenoid +} + +class PIDC { + +PIDC() + +confirm() + +getCo() + +calibration() + + -updateOutput() + -rawDegree + -offSetDegree + -turnOverNumber + -beforeDegree + + #co + #processValue + #initDegree +} + +class Arm { + +Arm() + +isPushed() + +isResetted() + +getHeight() + + -resetHeight() + ~ limitSwitch + + #heightResetFlag +} + +class WheelUnit { + +WheelUnit() +} + +object pin_config +object FEP +object HMC6352 +object MDC +object Omni +object PID +object QEI + +Bot o.. Controller +Bot o.. MotorDriver +Bot o.. PIDC + +MotorDriver <-. Arm +MotorDriver <-. WheelUnit + +Bot .right. pin_config + +Controller . FEP +MotorDriver . MDC +WheelUnit . Omni +PIDC .. PID +PIDC .. HMC6352 +Arm . QEI + +@enduml