Revision 1:845af5425eec, committed 2017-09-05

Comitter:

uchitake

Date:

Tue Sep 05 16:11:20 2017 +0900

Parent:

0:f022e319d359

Child:

2:17015107f466

Commit message:

mbed-os5

Changed in this revision

diff -r f022e319d359 -r 845af5425eec 2017NHKpin_config.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/2017NHKpin_config.lib	Tue Sep 05 16:11:20 2017 +0900
@@ -0,0 +1,1 @@
+https://developer.mbed.org/teams/NHK-Robocon2016_Nagaoka_B_Team/code/2017NHKpin_config/#ee450f68d539

diff -r f022e319d359 -r 845af5425eec bot/PIDcontroller/PID_controller.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/bot/PIDcontroller/PID_controller.cpp	Tue Sep 05 16:11:20 2017 +0900
@@ -0,0 +1,81 @@
+#include "PID_controller.h"
+
+void PIDC::updateOutput()
+{
+    confirm();
+}
+
+PIDC::PIDC() :
+    PID(KC, TI, TD, INTERVAL),
+    HMC6352(HMCsda, HMCscl),
+    rawDegree(0),
+    offSetDegree(0),
+    turnOverNumber(0),
+    beforeDegree(0),
+    co(0),
+    processValue(0),
+    initDegree(0)
+{
+    PID::setInputLimits(-INPUT_LIMIT, INPUT_LIMIT);
+    PID::setOutputLimits(-OUTPUT_LIMIT, OUTPUT_LIMIT);
+    PID::setBias(BIAS);
+    PID::setMode(AUTO_MODE);
+    PID::setSetPoint(0.0);
+
+    HMC6352::setOpMode(HMC6352_CONTINUOUS, 1, 20);
+    rawDegree = HMC6352::sample();
+    beforeDegree = HMC6352::sample();
+    offSetDegree = HMC6352::sample();
+    initDegree = 0;
+    turnOverNumber = 0;
+//    this -> attach(this, &PIDC::updateOutput, INTERVAL);
+}
+
+PIDC::PIDC(PinName sda, PinName scl, float kc, float ti, float td, float interval) :
+    PID(kc, ti, td, interval),
+    HMC6352(sda, scl),
+    rawDegree(0),
+    offSetDegree(0),
+    turnOverNumber(0),
+    beforeDegree(0),
+    co(0),
+    processValue(0),
+    initDegree(0)
+{
+    PID::setInputLimits(-INPUT_LIMIT, INPUT_LIMIT);
+    PID::setOutputLimits(-OUTPUT_LIMIT, OUTPUT_LIMIT);
+    PID::setBias(BIAS);
+    PID::setMode(AUTO_MODE);
+    PID::setSetPoint(0.0);
+
+    HMC6352::setOpMode(HMC6352_CONTINUOUS, 1, 20);
+    rawDegree = HMC6352::sample();
+    beforeDegree = HMC6352::sample();
+    offSetDegree = HMC6352::sample();
+    initDegree = 0;
+    turnOverNumber = 0;
+//    this -> attach(this, &PIDC::updateOutput, INTERVAL);
+}
+
+
+void PIDC::confirm()
+{
+    rawDegree = HMC6352::sample();
+    if(rawDegree - beforeDegree < -1800) turnOverNumber++;
+    if(rawDegree - beforeDegree > 1800) turnOverNumber--;
+    initDegree = rawDegree - offSetDegree + turnOverNumber * 3600;
+    beforeDegree = HMC6352::sample();
+    PID::setProcessValue(initDegree / 10.0);
+    co = PID::compute();
+}
+
+float PIDC::getCo() const
+{
+    return co;
+}
+
+
+void PIDC::calibration(int mode)
+{
+    setCalibrationMode(mode);
+}

diff -r f022e319d359 -r 845af5425eec bot/PIDcontroller/PID_controller.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/bot/PIDcontroller/PID_controller.h	Tue Sep 05 16:11:20 2017 +0900
@@ -0,0 +1,79 @@
+/**
+* @file PID_controller.h
+* @brief コンパスセンサを使ったPIDコントローラ
+*
+* Example :
+* @code
+* #include "mbed.h"
+* #include "PID_controller.h"
+*
+* PIDC pidc;
+*
+* int main()
+* {
+*     while(1) {
+*         pidc.confirm();
+*         pc.printf("Hi, %f\r\n", pid.getCo());
+*     }
+* }
+* @endcode
+*/
+#ifndef PID_CONTROLLER_H
+#define PID_CONTROLLER_H
+
+#include "mbed.h"
+#include "pin_config.h"
+
+#include "PID.h"
+#include "HMC6352.h"
+
+// const double M_PI = 3.141592653589793;
+const double KC = 5.0;
+const double TI = 0.0;
+const double TD = 0.0;
+const float INTERVAL  = 0.05;
+const float INPUT_LIMIT = 180.0;
+const float OUTPUT_LIMIT = 0.4;
+const float BIAS = 0.0;
+
+/**
+* @brief コンパスセンサを使ったPIDコントローラ
+*/
+class PIDC : public PID, HMC6352, Ticker
+{
+public :
+    /**
+    * @brief defaultコンストラクタ,タイマ割り込みでの計算開始
+    */
+    PIDC();
+
+    /**
+     * @brief コンストラクタ
+     * @param sda      sda HMC6352
+     * @param scl      scl HMC6352
+     * @param kc       KC
+     * @param ti       TI
+     * @param td       TD
+     * @param interval interval
+     */
+    PIDC(PinName sda, PinName scl, float kc, float ti, float td, float interval);
+
+    void confirm();
+    float getCo() const;
+    void calibration(int mode);
+private :
+
+    void updateOutput();
+
+    int rawDegree;
+    int offSetDegree;
+    int turnOverNumber;
+    int beforeDegree;
+
+protected :
+    float co;
+    float processValue;
+    int initDegree;
+};
+
+#endif//PID_CONTROLLER_H

diff -r f022e319d359 -r 845af5425eec bot/bot.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/bot/bot.cpp	Tue Sep 05 16:11:20 2017 +0900
@@ -0,0 +1,68 @@
+#include "bot.h"
+
+Bot::Bot() :
+    PIDC(), pad(XBee1TX, XBee1RX, ADDR), motor(MDSDA, MDSCL, solenoidPin)
+{
+    motor.goXY(0, 0, 0);
+    motor.moveSlider(0);
+    motor.destroy(0);
+    motor.swing(0);
+    motor.shakeHead(0);
+}
+
+void Bot::confirmAll()
+{
+    suc = pad.receiveState();
+    PIDC::confirm();
+    if(pad.getNorm(1) > 0.5) PIDC::setSetPoint(pad.getRadian(1) * (180.0 / M_PI) - M_PI / 2.0);
+    if(!suc) {
+        motor.goXY(0, 0, 0);
+        motor.moveSlider(0);
+        motor.destroy(0);
+        motor.swing(0);
+        motor.shakeHead(0);
+    }
+}
+
+void Bot::controllDrive()
+{
+    if(suc) motor.goXY(pad.getStick(0) / 2.0,-pad.getStick(1) / 2.0, PIDC::co);
+}
+
+void Bot::controllMech()
+{
+    if(suc) {
+//        if(!pad.getButton1(0)) motor.moveSlider(ARM_MAX_SPEED);
+//        if(!pad.getButton1(1)) motor.moveSlider(-ARM_MAX_SPEED);
+//        if(pad.getButton1(0) && pad.getButton1(1)) motor.moveSlider(0);
+//
+//        if(!pad.getButton1(3)) motor.shakeHead(ARM_MAX_SPEED);
+//        if(!pad.getButton1(4)) motor.shakeHead(-ARM_MAX_SPEED);
+//        if(pad.getButton1(3) && pad.getButton1(4)) motor.shakeHead(0);
+//
+        if(!pad.getButton1(5)) motor.swing(0.2);
+        if(!pad.getButton1(6)) motor.swing(-0.2);
+        if(pad.getButton1(5) && pad.getButton1(6)) motor.swing(0);
+
+//
+//        if(!pad.getButton1(2)) {
+//            motor.destroy(DESTROY_MAX_SPEED);
+//        } else {
+//            motor.destroy(0);
+//        }
+//
+//        if(!pad.getButton2(0)) motor.release();
+    }
+}
+
+
+void Bot::calibrate()
+{
+    if(suc && !pad.getButton2(0) && !pad.getButton2(1) && !pad.getButton2(2) && !pad.getButton2(3)) {
+        PIDC::calibration(HMC6352_ENTER_CALIB);
+        motor.goXY(0, 0, 0.3);
+        wait(2.0);
+        motor.goXY(0, 0, 0);
+        PIDC::calibration(HMC6352_EXIT_CALIB);
+    }
+}
\ No newline at end of file

diff -r f022e319d359 -r 845af5425eec bot/bot.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/bot/bot.h	Tue Sep 05 16:11:20 2017 +0900
@@ -0,0 +1,51 @@
+/**
+* @file bot.h
+* @brief ロボットのクラス
+*/
+#ifndef BOT_H
+#define BOT_H
+
+#include "mbed.h"
+#include "pin_config.h"
+#include "motor_driver.h"
+#include "controller.h"
+#include "PID_controller.h"
+
+#define ARM_MAX_SPEED 1
+#define DESTROY_MAX_SPEED 1
+
+/**
+* @brief ロボットのクラス
+*/
+class Bot : public PIDC
+{
+public :
+    /**
+    * @brief コンストラクタ
+    */
+    Bot();
+
+    /**
+    * @brief センサなどの値を更新
+    */
+    void confirmAll();
+
+    /**
+    * @brief 足回りの制御
+    */
+    void controllDrive();
+
+    /**
+    * @brief 機構部の制御
+    */
+    void controllMech();
+    
+    void calibrate();
+
+private :
+    Controller pad;
+    MotorDriver motor;
+    bool suc;
+};
+
+#endif//BOT_H

diff -r f022e319d359 -r 845af5425eec bot/controller/controller.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/bot/controller/controller.cpp	Tue Sep 05 16:11:20 2017 +0900
@@ -0,0 +1,92 @@
+#include "controller.h"
+
+Controller::Controller() :
+    FEP(XBee1TX, XBee1RX, ADDR),
+    data(),
+    fepTemp(0),
+    button1(),
+    button2(),
+    stick(),
+    radian(),
+    norm()
+{
+}
+
+Controller::Controller(PinName FEPtx, PinName FEPrx, int addr) :
+    FEP(FEPtx, FEPrx, addr),
+    data(),
+    fepTemp(0),
+    button1(),
+    button2(),
+    stick(),
+    radian(),
+    norm()
+{
+}
+
+bool Controller::receiveState()
+{
+    fepTemp = FEP::read(data, DATA_SIZE);
+    if(fepTemp == FEP_SUCCESS) {
+        for(int i = 0; i < 7; i++) {
+            button1[i] = data[4] % 2;
+            data[4] /= 2;
+        }
+        for(int i=0; i<6; i++) {
+            button2[i] = data[5] % 2;
+            data[5] /= 2;
+        }
+        for(int i = 0; i < 4; i++) {
+            stick[i] = -((double)(data[i] / STICK_DIVIDE) * 2.0 - 1.0);
+        }
+        setStick();
+    } else if(fepTemp == FEP_NO_RESPONSE) {
+        return 0;
+    } else {
+        return 0;
+    }
+    return 1;
+}
+
+void Controller::setStick()
+{
+    for(int i = 0; i < 4; i++) {
+        if(stick[i] < STICK_NEWTRAL && stick[i] > -STICK_NEWTRAL) stick[i] = 0;
+    }
+
+    radian[0] = atan2(stick[1], -stick[0]);
+    radian[1] = atan2(stick[3], -stick[2]);
+
+    norm[0] = hypot(stick[0], stick[1]);
+    norm[1] = hypot(stick[2], stick[3]);
+
+    if(norm[0] < STICK_NEWTRAL) norm[0] = 0;
+    if(norm[1] < STICK_NEWTRAL) norm[1] = 0;
+    if(norm[0] > STICK_NORM_MAX) norm[0] = STICK_NORM_MAX;
+    if(norm[1] > STICK_NORM_MAX) norm[1] = STICK_NORM_MAX;
+}
+
+bool Controller::getButton1(int number) const
+{
+    return button1[number];
+}
+
+bool Controller::getButton2(int number) const
+{
+    return button2[number];
+}
+
+float Controller::getStick(int number) const
+{
+    return stick[number];
+}
+
+float Controller::getRadian(int number) const
+{
+    return radian[number];
+}
+
+float Controller::getNorm(int number) const
+{
+    return norm[number];
+}

diff -r f022e319d359 -r 845af5425eec bot/controller/controller.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/bot/controller/controller.h	Tue Sep 05 16:11:20 2017 +0900
@@ -0,0 +1,118 @@
+/**
+* @file controller.h
+* @brief FEPを使ったコントローラ受信部
+*
+* Example :
+* @code
+* #include "mbed.h"
+* #include "controller.h"
+*
+* Controller pad(PA_9, PA_10, 200);
+* Serial pc(USBTX, USBRX, 115200);
+*
+* int main()
+* {
+*     while(1) {
+*         if(pad.receiveState()) {
+*             for(int i = 0; i < 7; i++) pc.printf("%d, ", pad.getButton1(i));
+*             for(int i = 0; i < 6; i++) pc.printf("%d, ", pad.getButton2(i));
+*             pc.printf("\r\n");
+*         } else {
+*             pc.printf("ERROR\n\r");
+*         }
+*     }
+* }
+* @endcode
+*/
+#ifndef CONTROLLER_H
+#define CONTROLLER_H
+
+#include "mbed.h"
+#include "pin_config.h"
+#include <math.h>
+
+#include "FEP.h"
+
+// const double M_PI =     3.141592653589793;
+const int ADDR =        203;
+const bool FEP_SUCCESS =0;
+const int DATA_SIZE =   6;
+const float STICK_DIVIDE =  255.0;
+const float STICK_NEWTRAL = 0.1;
+const float STICK_NORM_MAX =1.0;
+
+/**
+* @brief FEPを使ったコントローラのクラス
+*/
+class Controller : public FEP
+{
+public :
+
+    /**
+    * @brief コンストラクタ
+    */
+    Controller();
+
+    /**
+     * @brief コンストラクタ
+     * @param FEPtx FEPtx
+     * @param FEPrx FEPrx
+     * @param addr  address
+     */
+    Controller(PinName FEPtx, PinName FEPrx,int addr);
+
+    /**
+    * @brief メンバ変数にボタンのステートを格納
+    */
+    bool receiveState();
+
+    /**
+     * ボタン1の状態を取得
+     * @param  number button number
+     * @return        status
+     */
+    bool getButton1(int number) const;
+
+    /**
+     * ボタン2の状態を取得
+     * @param  number button number
+     * @return        status
+     */
+    bool getButton2(int number) const;
+
+    /**
+     * スティックの値を取得
+     * @param  number sticknumber(x, y, x, y)
+     * @return        stick value
+     */
+    float getStick(int number) const;
+
+    /**
+     * スチィックの角度を取得
+     * @param  number left...0 right...1
+     * @return        radian
+     */
+    float getRadian(int number) const;
+
+    /**
+     * スティックの距離を取得
+     * @param  number left..0 right..1
+     * @return        norm
+     */
+    float getNorm(int number) const;
+
+private :
+    void setStick();
+
+    char data[6];
+    uint8_t fepTemp;
+
+protected :
+    bool button1[7];
+    bool button2[6];
+    double stick[4];
+    double radian[2];
+    double norm[2];
+};
+
+#endif//CONTROLLER_H

diff -r f022e319d359 -r 845af5425eec bot/motor_driver/arm_unit/arm_unit.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/bot/motor_driver/arm_unit/arm_unit.cpp	Tue Sep 05 16:11:20 2017 +0900
@@ -0,0 +1,32 @@
+#include "arm_unit.h"
+
+void Arm::resetHeight(void)
+{
+    QEI::reset();
+    heightResetFlag = 1;
+}
+
+Arm::Arm() :
+    QEI(Sensor4pin1a, Sensor4pin1b, NC, PULSES_PER_REV, X2_ENCODING),
+    limitSwitch(Sensor3pin3a),
+    heightResetFlag(0)
+{
+    QEI::reset();
+    // limitSwitch.rise(this, &Arm::resetHeight);
+    limitSwitch.rise(callback(this, &Arm::resetHeight));
+}
+
+bool Arm::isPushed()
+{
+    return limitSwitch.read();
+}
+
+bool Arm::isResetted() const
+{
+    return heightResetFlag;
+}
+
+int Arm::getHeight()
+{
+    return QEI::getCurrentState();
+}

diff -r f022e319d359 -r 845af5425eec bot/motor_driver/arm_unit/arm_unit.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/bot/motor_driver/arm_unit/arm_unit.h	Tue Sep 05 16:11:20 2017 +0900
@@ -0,0 +1,54 @@
+/**
+* @file arm_unit.h
+* @brief アーム機構のStateクラス
+*/
+#ifndef ARM_UNIT_H
+#define ARM_UNIT_H
+
+#include "mbed.h"
+#include "pin_config.h"
+
+#include "QEI.h"
+
+const int PULSES_PER_REV = 6;
+// #define SLIDER_POINT
+
+/**
+* @brief アーム機構のStateクラス
+*/
+class Arm : public QEI {
+public :
+
+    /**
+    * @brief コンストラクタ
+    */
+    Arm();
+
+    /**
+    * @bref スライダ高さリセット用のリミットスイッチの状態
+    * @return limitSwitch
+    */
+    bool isPushed();
+
+    /**
+     * @brief 高さの値がリセットされたことがあるか
+     * @return heightResetFlag(bool)
+     */
+    bool isResetted() const;
+
+    /**
+     * @brief 高さを取得
+     * @return height
+     */
+    int getHeight();
+
+private :
+    void resetHeight();
+    InterruptIn limitSwitch;
+
+protected :
+    bool heightResetFlag;
+
+};
+
+#endif//ARM_UNIT_H

diff -r f022e319d359 -r 845af5425eec bot/motor_driver/motor_driver.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/bot/motor_driver/motor_driver.cpp	Tue Sep 05 16:11:20 2017 +0900
@@ -0,0 +1,74 @@
+#include "motor_driver.h"
+
+MotorDriver::MotorDriver() :
+    MDC(MDSDA, MDSCL),
+    quadOmni(WHEEL_NUMBER),
+    solenoid(solenoidPin)
+{
+    MDC::MotorSTOP();
+    quadOmni.setWheelRadian(
+        WHEEL_RADIAN / 2.0,
+        WHEEL_RADIAN /2.0 + WHEEL_RADIAN,
+        -WHEEL_RADIAN / 2.0,
+        -WHEEL_RADIAN /2.0 - WHEEL_RADIAN
+    );
+    solenoid = 0;
+}
+
+MotorDriver::MotorDriver(PinName sda, PinName scl, PinName solPin) :
+    MDC(sda, scl),
+    quadOmni(WHEEL_NUMBER),
+    solenoid(solPin)
+{
+    MDC::MotorSTOP();
+    quadOmni.setWheelRadian(
+        WHEEL_RADIAN / 2.0,
+        WHEEL_RADIAN /2.0 + WHEEL_RADIAN,
+        -WHEEL_RADIAN / 2.0,
+        -WHEEL_RADIAN /2.0 - WHEEL_RADIAN
+    );
+    solenoid = 0;
+}
+
+void MotorDriver::moveSlider(float speed)
+{
+    if(!arm.isResetted() && speed < 0) speed = 0;
+    if(arm.isPushed() && speed > 0) speed = 0;
+    MDC::write(ARM_MDC_ADDR, SLIDER_NUMBER, speed);
+}
+
+void MotorDriver::swing(float speed)
+{
+    MDC::write(ARM_MDC_ADDR, SWORD_NUMBER, speed);
+}
+
+void MotorDriver::shakeHead(float speed)
+{
+    MDC::write(ARM_MDC_ADDR, SHAKE_NUMBER, speed);
+}
+
+void MotorDriver::release()
+{
+    solenoid = 1;
+}
+
+void MotorDriver::destroy(float speed)
+{
+    write(ARM_MDC_ADDR, ARM_NUMBER, speed);
+}
+
+void MotorDriver::goXY(float X, float Y, float moment)
+{
+    quadOmni.computeXY(X, Y, moment);
+    for(int i = 0; i < 4; i++) {
+        write(WHEEL_MDC_ADDR, i, quadOmni.getOutput(i));
+    }
+}
+
+void MotorDriver::goCircular(float r, float rad, float moment)
+{
+    quadOmni.computeCircular(r, rad, moment);
+    for(int i = 0; i < 4; i++) {
+        write(WHEEL_MDC_ADDR, i, quadOmni.getOutput(i));
+    }
+}

diff -r f022e319d359 -r 845af5425eec bot/motor_driver/motor_driver.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/bot/motor_driver/motor_driver.h	Tue Sep 05 16:11:20 2017 +0900
@@ -0,0 +1,98 @@
+/**
+* @file motor_driver.h
+* @brief モータ駆動クラス
+*
+* Example :
+* @code
+* #include "mbed.h"
+* #include "motor_driver.h"
+*
+* MotorDriver(PB_9, PB_8, PA_5);
+* Serial pc(USBTX, USBRX, 115200);
+*
+* int main()
+* {
+*     while(1) {
+*         motor.goXY(0.1, 0.1, 0);
+*     }
+* }
+* @endcode
+*/
+#ifndef MOTOR_DRIVER_H
+#define MOTOR_DRIVER_H
+
+#include "mbed.h"
+#include "pin_config.h"
+
+#include "arm_unit.h"
+#include "omni.h"
+#include "MotorDriverController.h"
+
+const int WHEEL_NUMBER = 4;
+const float WHEEL_RADIAN = M_PI / 2.0;
+const int WHEEL_MDC_ADDR =  7;
+const int ARM_MDC_ADDR =    6;
+const int SLIDER_NUMBER =   0;
+const int ARM_NUMBER =      1;
+const int SWORD_NUMBER =    2;
+const int SHAKE_NUMBER =    3;
+
+/**
+* @brief モータ駆動クラス
+*/
+class MotorDriver : MDC {
+public :
+    /**
+    * @brief コンストラクタ
+    */
+    MotorDriver();
+
+    MotorDriver(PinName sda, PinName scl, PinName solPin);
+
+    /**
+    * @brief スライダを動かす
+    */
+    void moveSlider(float speed);
+
+    /**
+    * @brief ひみつ道具部分を動かす
+    */
+    void destroy(float speed);
+
+    /**
+     * @brief 剣を振る
+     * @param speed 速度
+     */
+    void swing(float speed);
+
+    /**
+     * @brief ひみつ道具の首振り
+     * @param speed 速度
+     */
+    void shakeHead(float speed);
+
+    /**
+     * @brief 解放機構
+     */
+    void release();
+
+    /**
+    * @brief あしまわりを動かす(X, Y)
+    */
+    void goXY(float X, float Y, float moment);
+
+    /**
+     * @brief 足回りを動かす(circular)
+     * @param r      半径
+     * @param rad    角度
+     * @param moment 回転
+     */
+    void goCircular(float r, float rad, float moment);
+
+private :
+    Arm arm;
+    Omni quadOmni;
+    DigitalOut solenoid;
+};
+
+#endif//MOTOR_DRIVER_H

diff -r f022e319d359 -r 845af5425eec classDiagram.pu
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/classDiagram.pu	Tue Sep 05 16:11:20 2017 +0900
@@ -0,0 +1,107 @@
+@startuml
+
+class Bot {
+	+Bot()
+	+confirmAll()
+	+controllDrive()
+	+controllMech()
+	+calibrate()
+
+	~pad
+	~motor
+	-suc
+}
+
+class Controller {
+	+Controller()
+	+receiveState()
+	+getButton1()
+	+getButton2()
+	+getStick()
+	+getRadian()
+	+getNorm()
+
+	-setStick()
+	-data[6]
+	-fepTemp
+
+	#button1[7]
+	#button2[6]
+	#stick[4]
+	#radian[2]
+	#norm[2]
+}
+
+class MotorDriver {
+	+MotorDriver()
+	+moveSlider()
+	+destroy()
+	+swing()
+	+shakeHead()
+	+release()
+	+goXY()
+	+goCircular()
+
+	~arm
+	~quadOmni
+	~solenoid
+}
+
+class PIDC {
+	+PIDC()
+	+confirm()
+	+getCo()
+	+calibration()
+
+	-updateOutput()
+	-rawDegree
+	-offSetDegree
+	-turnOverNumber
+	-beforeDegree
+
+	#co
+	#processValue
+	#initDegree
+}
+
+class Arm {
+	+Arm()
+	+isPushed()
+	+isResetted()
+	+getHeight()
+
+	-resetHeight()
+	~ limitSwitch
+
+	#heightResetFlag
+}
+
+class WheelUnit {
+	+WheelUnit()
+}
+
+object pin_config
+object FEP
+object HMC6352
+object MDC
+object Omni
+object PID
+object QEI
+
+Bot o.. Controller
+Bot o.. MotorDriver
+Bot o.. PIDC
+
+MotorDriver <-. Arm
+MotorDriver <-. WheelUnit
+
+Bot .right. pin_config
+
+Controller . FEP
+MotorDriver . MDC
+WheelUnit . Omni
+PIDC .. PID
+PIDC .. HMC6352
+Arm . QEI
+
+@enduml

diff -r f022e319d359 -r 845af5425eec libs/FEP.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/libs/FEP.lib	Tue Sep 05 16:11:20 2017 +0900
@@ -0,0 +1,1 @@
+https://mbed.org/teams/NHK-Robocon2016_Nagaoka_B_Team/code/FEP/#74e21751ac10

diff -r f022e319d359 -r 845af5425eec libs/HMC6352.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/libs/HMC6352.lib	Tue Sep 05 16:11:20 2017 +0900
@@ -0,0 +1,1 @@
+https://mbed.org/users/aberk/code/HMC6352/#83c0cb554099

diff -r f022e319d359 -r 845af5425eec libs/MotorDriverController.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/libs/MotorDriverController.lib	Tue Sep 05 16:11:20 2017 +0900
@@ -0,0 +1,1 @@
+https://developer.mbed.org/teams/NHK-Robocon2016_Nagaoka_B_Team/code/MotorDriverController/#caf0cea235b2

diff -r f022e319d359 -r 845af5425eec libs/PID.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/libs/PID.lib	Tue Sep 05 16:11:20 2017 +0900
@@ -0,0 +1,1 @@
+https://mbed.org/users/aberk/code/PID/#6e12a3e5af19

diff -r f022e319d359 -r 845af5425eec libs/QEI.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/libs/QEI.lib	Tue Sep 05 16:11:20 2017 +0900
@@ -0,0 +1,1 @@
+https://mbed.org/users/aberk/code/QEI/#5c2ad81551aa

diff -r f022e319d359 -r 845af5425eec libs/omni.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/libs/omni.lib	Tue Sep 05 16:11:20 2017 +0900
@@ -0,0 +1,1 @@
+https://developer.mbed.org/teams/NHK-Robocon2016_Nagaoka_B_Team/code/omni/#4f0b55344c73

diff -r f022e319d359 -r 845af5425eec main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Sep 05 16:11:20 2017 +0900
@@ -0,0 +1,19 @@
+#include "mbed.h"
+#include "pin_config.h"
+#include "bot.h"
+
+Bot KANI;
+Serial pc(USBTX, USBRX, 115200);
+
+int main()
+{
+    int i = 0;
+    pc.printf("const\n\r");
+    while(1) {
+        KANI.confirmAll();
+        KANI.controllDrive();
+        KANI.controllMech();
+        wait(INTERVAL);
+        pc.printf("%d\n\r", i++);
+    }
+}

diff -r f022e319d359 -r 845af5425eec use_case.pu
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/use_case.pu	Tue Sep 05 16:11:20 2017 +0900
@@ -0,0 +1,15 @@
+@startuml
+
+actor user
+
+user -> (controller) : controll
+controller --> (MCU) : FEP_serial
+MCU --> (MDC) : I2C
+MCU --> (solenoid) : DigitalOut
+MCU <-- (HMC6352) : I2C (via PIDControler)
+MCU <-- (QEI) : DigitalIn
+MCU <-- (limitSwitch) : DigitalIn
+MDC --> (quadOmni)
+MDC --> (gimmicks)
+
+@enduml