NagaokaRoboticsClub_mbedTeam / Mbed OS NHK2017_octopus2_drive

タコ　駆動側　

Dependencies:   2017NHKpin_config FEP R1307 PID ikarashiMDC omni_wheel

Fork of NHK2017_octopus2 by NagaokaRoboticsClub_mbedTeam

bot/bot.h@9:39be1525dfe0, 2017-09-07 (annotated)

Committer:
uchitake
Date:
Thu Sep 07 17:37:41 2017 +0900
Revision:
9:39be1525dfe0
Parent:
6:fe9767a50891
Child:
14:1fadf7d2f583
Adapted newMDC

****NO_WORKING***

Who changed what in which revision?

UserRevisionLine numberNew contents of line
uchitake 1:845af5425eec 1 /**
uchitake 1:845af5425eec 2 * @file bot.h
uchitake 1:845af5425eec 3 * @brief ロボットのクラス
uchitake 1:845af5425eec 4 */
uchitake 1:845af5425eec 5 #ifndef BOT_H
uchitake 1:845af5425eec 6 #define BOT_H
uchitake 1:845af5425eec 7
uchitake 1:845af5425eec 8 #include "mbed.h"
uchitake 1:845af5425eec 9 #include "pin_config.h"
uchitake 1:845af5425eec 10 #include "controller.h"
uchitake 1:845af5425eec 11 #include "PID_controller.h"
uchitake 9:39be1525dfe0 12 #include "slider.h"
uchitake 9:39be1525dfe0 13 #include "wheel_unit.h"
uchitake 1:845af5425eec 14
uchitake 9:39be1525dfe0 15 const int SWORD = 1;
uchitake 1:845af5425eec 16
uchitake 1:845af5425eec 17 /**
uchitake 1:845af5425eec 18 * @brief ロボットのクラス
uchitake 1:845af5425eec 19 */
uchitake 1:845af5425eec 20 class Bot : public PIDC
uchitake 1:845af5425eec 21 {
uchitake 1:845af5425eec 22 public :
uchitake 1:845af5425eec 23 /**
uchitake 1:845af5425eec 24 * @brief コンストラクタ
uchitake 1:845af5425eec 25 */
uchitake 1:845af5425eec 26 Bot();
uchitake 1:845af5425eec 27
uchitake 1:845af5425eec 28 /**
uchitake 1:845af5425eec 29 * @brief センサなどの値を更新
uchitake 1:845af5425eec 30 */
uchitake 1:845af5425eec 31 void confirmAll();
uchitake 1:845af5425eec 32
uchitake 1:845af5425eec 33 /**
uchitake 1:845af5425eec 34 * @brief 足回りの制御
uchitake 1:845af5425eec 35 */
uchitake 1:845af5425eec 36 void controllDrive();
uchitake 3:369d9ee17e84 37 void controllDrive2();
uchitake 1:845af5425eec 38
uchitake 1:845af5425eec 39 /**
uchitake 1:845af5425eec 40 * @brief 機構部の制御
uchitake 1:845af5425eec 41 */
uchitake 1:845af5425eec 42 void controllMech();
uchitake 3:369d9ee17e84 43
uchitake 1:845af5425eec 44 void calibrate();
uchitake 1:845af5425eec 45
uchitake 1:845af5425eec 46 private :
uchitake 1:845af5425eec 47 Controller pad;
uchitake 9:39be1525dfe0 48 Serial RS485;
uchitake 9:39be1525dfe0 49 DigitalOut RS485Controller;
uchitake 9:39be1525dfe0 50 DigitalOut powerSwitch;
uchitake 9:39be1525dfe0 51 WheelUnit quadOmni;
uchitake 9:39be1525dfe0 52 Slider slider;
uchitake 9:39be1525dfe0 53 ikarashiMDC armMotor[3];
uchitake 6:fe9767a50891 54 bool receiveSuccessed;
uchitake 9:39be1525dfe0 55 DigitalOut led[8];
uchitake 5:16ea97725085 56 Serial debugSerial;
uchitake 1:845af5425eec 57 };
uchitake 1:845af5425eec 58
uchitake 1:845af5425eec 59 #endif//BOT_H