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Dependencies: 2017NHKpin_config FEP R1307 PID ikarashiMDC omni_wheel
Fork of
NHK2017_octopus2
by 
NagaokaRoboticsClub_mbedTeam
Diff: classDiagram.pu
- Revision:
- 1:845af5425eec
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