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@6:fe9767a50891, 2017-09-06 (annotated)

Committer:
uchitake
Date:
Wed Sep 06 18:39:19 2017 +0900
Revision:
6:fe9767a50891
Parent:
5:16ea97725085
Child:
9:39be1525dfe0
fix coding

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 "motor_driver.h"
uchitake 1:845af5425eec 11 #include "controller.h"
uchitake 1:845af5425eec 12 #include "PID_controller.h"
uchitake 1:845af5425eec 13
uchitake 1:845af5425eec 14 #define ARM_MAX_SPEED 1
uchitake 1:845af5425eec 15 #define DESTROY_MAX_SPEED 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 1:845af5425eec 48 MotorDriver motor;
uchitake 6:fe9767a50891 49 bool receiveSuccessed;
uchitake 5:16ea97725085 50 DigitalOut led[4];
uchitake 5:16ea97725085 51 Serial debugSerial;
uchitake 1:845af5425eec 52 };
uchitake 1:845af5425eec 53
uchitake 1:845af5425eec 54 #endif//BOT_H