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@23:797d25f3df5e, 2017-10-01 (annotated)

Committer:
takeuchi
Date:
Sun Oct 01 11:43:53 2017 +0900
Branch:
develop1
Revision:
23:797d25f3df5e
Parent:
19:34da005ea4ea 
fix inheritance problem

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 15:9aa11febe517 16 const int DESTROY = 2;
uchitake 1:845af5425eec 17 /**
uchitake 1:845af5425eec 18 * @brief ロボットのクラス
uchitake 1:845af5425eec 19 */
takeuchi 23:797d25f3df5e 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 */
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 1:845af5425eec 37
uchitake 1:845af5425eec 38 /**
uchitake 1:845af5425eec 39 * @brief 機構部の制御
uchitake 1:845af5425eec 40 */
uchitake 1:845af5425eec 41 void controllMech();
uchitake 3:369d9ee17e84 42
uchitake 18:78df87e20590 43 /**
uchitake 18:78df87e20590 44 * センサのキャリブレーション
uchitake 18:78df87e20590 45 */
uchitake 1:845af5425eec 46 void calibrate();
uchitake 1:845af5425eec 47
uchitake 1:845af5425eec 48 private :
uchitake 1:845af5425eec 49 Controller pad;
uchitake 9:39be1525dfe0 50 Serial RS485;
uchitake 9:39be1525dfe0 51 DigitalOut RS485Controller;
uchitake 9:39be1525dfe0 52 DigitalOut powerSwitch;
uchitake 9:39be1525dfe0 53 WheelUnit quadOmni;
uchitake 9:39be1525dfe0 54 Slider slider;
uchitake 9:39be1525dfe0 55 ikarashiMDC armMotor[3];
takeuchi 23:797d25f3df5e 56 PIDC pidc;
uchitake 6:fe9767a50891 57 bool receiveSuccessed;
uchitake 14:1fadf7d2f583 58 DigitalOut led[3];
uchitake 5:16ea97725085 59 Serial debugSerial;
uchitake 19:34da005ea4ea 60 Timer t;
uchitake 1:845af5425eec 61 };
uchitake 1:845af5425eec 62
uchitake 1:845af5425eec 63 #endif//BOT_H