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@54:7176e6a08600, 2017-11-23 (annotated)

Committer:
number_key
Date:
Thu Nov 23 14:59:02 2017 +0900
Revision:
54:7176e6a08600
Parent:
52:320f910ca6ca
Child:
55:52b2cb45f21f
first success

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"
number_key 50:3a7c858aa0f9 9 #include "math.h"
uchitake 1:845af5425eec 10 #include "pin_config.h"
uchitake 1:845af5425eec 11 #include "controller.h"
uchitake 1:845af5425eec 12 #include "PID_controller.h"
uchitake 9:39be1525dfe0 13 #include "wheel_unit.h"
number_key 49:69a7235d837a 14 #include "def.h"
uchitake 1:845af5425eec 15
uchitake 28:676330f1d186 16 const float ADJUST_DEGREE = 5.0;
uchitake 1:845af5425eec 17 /**
uchitake 1:845af5425eec 18 * @brief ロボットのクラス
uchitake 1:845af5425eec 19 */
takeuchi 32:b619c7787dc3 20 class Bot
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 */
number_key 54:7176e6a08600 31 void confirmPad();
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 17:79fa65706f92 38 void controllDrive3();
takeuchi 41:ae6f844facb1 39 void controllDrive4();
uchitake 1:845af5425eec 40
uchitake 1:845af5425eec 41 /**
uchitake 1:845af5425eec 42 * @brief 機構部の制御
uchitake 1:845af5425eec 43 */
uchitake 1:845af5425eec 44 void controllMech();
uchitake 3:369d9ee17e84 45
uchitake 18:78df87e20590 46 /**
uchitake 18:78df87e20590 47 * センサのキャリブレーション
uchitake 18:78df87e20590 48 */
uchitake 1:845af5425eec 49 void calibrate();
uchitake 1:845af5425eec 50
number_key 49:69a7235d837a 51 void checkConnection();
number_key 49:69a7235d837a 52
number_key 49:69a7235d837a 53 void checkDegree();
number_key 49:69a7235d837a 54
number_key 52:320f910ca6ca 55 void checkReceiveData();
number_key 52:320f910ca6ca 56
uchitake 1:845af5425eec 57 private :
number_key 54:7176e6a08600 58 Controller pad;
uchitake 9:39be1525dfe0 59 Serial RS485;
uchitake 9:39be1525dfe0 60 DigitalOut RS485Controller;
uchitake 9:39be1525dfe0 61 DigitalOut powerSwitch;
uchitake 9:39be1525dfe0 62 WheelUnit quadOmni;
takeuchi 32:b619c7787dc3 63 PIDC plane;
takeuchi 32:b619c7787dc3 64 PIDC axis;
number_key 54:7176e6a08600 65 int receiveSuccessed;
uchitake 28:676330f1d186 66 float frontDegree;
uchitake 5:16ea97725085 67 Serial debugSerial;
uchitake 19:34da005ea4ea 68 Timer t;
uchitake 1:845af5425eec 69 };
uchitake 1:845af5425eec 70
uchitake 1:845af5425eec 71 #endif//BOT_H