Diff: hayatoBoomerang.h

Revision:

6:0bee4b2bb400

Parent:

4:c2b09fa31492

Child:

11:68defd561031

--- a/hayatoBoomerang.h	Wed Aug 30 03:44:00 2017 +0900
+++ b/hayatoBoomerang.h	Fri Sep 01 10:42:27 2017 +0900
@@ -7,6 +7,13 @@
 #include "QEI.h"
 #include "Spiral.h"
 #include "pinConfig.h"
+#include "omni.h"
+
+#define DEG_TO_RAD 0.017453292519943295769236907684886
+#define RAD_TO_DEG 57.295779513082320876798154814105
+
+#define radians(deg) ((deg)*DEG_TO_RAD)
+#define degrees(rad) ((rad)*RAD_TO_DEG)
 
 class boomerang
 {
@@ -21,16 +28,19 @@
   double armAngle;
   bool calibrating;
   double beltSpeed;
-  ikarashiMDC* armMotor,*shootingMotor,*beltMotor,*spiralMotor;
+  void move(const uint8_t& x,const uint8_t& y,const uint8_t& moment);
 private:
+  QEI *armEncoder;
+  ikarashiMDC* armMotor,*shootingMotor,*beltMotor,*spiralMotor;
+  ikarashiMDC *omniMotor[5];
   InterruptIn *speedEncoder;
-  QEI *armEncoder;
   InterruptIn* armLimit;
   DigitalOut *rscs;
   PID *speedPID,*armPID;
   Timer rpmCalc;
   Timeout beltTime;
   Spiral* spiral;
+  Omni *omni;
   void endCalibration();
   void beltStop();
   bool firing;