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@36:c1398ea8f604, 2017-10-09 (annotated)

Committer:
takeuchi
Date:
Mon Oct 09 09:22:44 2017 +0900
Revision:
36:c1398ea8f604
Parent:
32:b619c7787dc3
Child:
41:ae6f844facb1
add rolling motion

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
takeuchi 36:c1398ea8f604 15 const int ROLL = 0;
uchitake 9:39be1525dfe0 16 const int SWORD = 1;
UCHITAKE 15:9aa11febe517 17 const int DESTROY = 2;
uchitake 28:676330f1d186 18 const float ADJUST_DEGREE = 5.0;
uchitake 1:845af5425eec 19 /**
uchitake 1:845af5425eec 20 * @brief ロボットのクラス
uchitake 1:845af5425eec 21 */
takeuchi 32:b619c7787dc3 22 class Bot
uchitake 1:845af5425eec 23 {
uchitake 1:845af5425eec 24 public :
uchitake 1:845af5425eec 25 /**
uchitake 1:845af5425eec 26 * @brief コンストラクタ
uchitake 1:845af5425eec 27 */
uchitake 1:845af5425eec 28 Bot();
uchitake 1:845af5425eec 29
uchitake 1:845af5425eec 30 /**
uchitake 1:845af5425eec 31 * @brief センサなどの値を更新
uchitake 1:845af5425eec 32 */
uchitake 1:845af5425eec 33 void confirmAll();
uchitake 1:845af5425eec 34
uchitake 1:845af5425eec 35 /**
uchitake 1:845af5425eec 36 * @brief 足回りの制御
uchitake 1:845af5425eec 37 */
uchitake 1:845af5425eec 38 void controllDrive();
uchitake 3:369d9ee17e84 39 void controllDrive2();
uchitake 17:79fa65706f92 40 void controllDrive3();
uchitake 1:845af5425eec 41
uchitake 1:845af5425eec 42 /**
uchitake 1:845af5425eec 43 * @brief 機構部の制御
uchitake 1:845af5425eec 44 */
uchitake 1:845af5425eec 45 void controllMech();
uchitake 3:369d9ee17e84 46
uchitake 18:78df87e20590 47 /**
uchitake 18:78df87e20590 48 * センサのキャリブレーション
uchitake 18:78df87e20590 49 */
uchitake 1:845af5425eec 50 void calibrate();
uchitake 1:845af5425eec 51
uchitake 1:845af5425eec 52 private :
uchitake 1:845af5425eec 53 Controller pad;
uchitake 9:39be1525dfe0 54 Serial RS485;
uchitake 9:39be1525dfe0 55 DigitalOut RS485Controller;
uchitake 9:39be1525dfe0 56 DigitalOut powerSwitch;
uchitake 9:39be1525dfe0 57 WheelUnit quadOmni;
uchitake 9:39be1525dfe0 58 Slider slider;
uchitake 9:39be1525dfe0 59 ikarashiMDC armMotor[3];
takeuchi 32:b619c7787dc3 60 PIDC plane;
takeuchi 32:b619c7787dc3 61 PIDC axis;
uchitake 6:fe9767a50891 62 bool receiveSuccessed;
uchitake 28:676330f1d186 63 float frontDegree;
uchitake 14:1fadf7d2f583 64 DigitalOut led[3];
uchitake 5:16ea97725085 65 Serial debugSerial;
uchitake 19:34da005ea4ea 66 Timer t;
uchitake 1:845af5425eec 67 };
uchitake 1:845af5425eec 68
uchitake 1:845af5425eec 69 #endif//BOT_H