NagaokaRoboticsClub_mbedTeam / Mbed OS hayatoShooter

2017ロボコンはやとブーメランプログラム

Dependencies:   PID QEI ikarashiMDC recieveController omni

Diff: hayatoBoomerang.h

Revision:
11:68defd561031
Parent:
6:0bee4b2bb400
Child:
12:9d21189a8eb0
--- a/hayatoBoomerang.h	Fri Sep 01 11:36:46 2017 +0900
+++ b/hayatoBoomerang.h	Fri Sep 01 14:04:21 2017 +0900
@@ -21,22 +21,18 @@
   boomerang(Serial *serail_); // Create boomerang instance
   bool fire(); // Fire boomerang
   void setTargetMotorSpeed(const int& targetRPM);
-  void setTargetArmAngle(const int& targetArmAngle); // 0 to 90
   int calibrateArm();
   void update();
   double motorRPM;
-  double armAngle;
-  bool calibrating;
   double beltSpeed;
   void move(const uint8_t& x,const uint8_t& y,const uint8_t& moment);
+  void sword();
 private:
-  QEI *armEncoder;
-  ikarashiMDC* armMotor,*shootingMotor,*beltMotor,*spiralMotor;
-  ikarashiMDC *omniMotor[5];
+  ikarashiMDC *shootingMotor,*beltMotor,*spiralMotor;
+  ikarashiMDC *omniMotor[4];
   InterruptIn *speedEncoder;
-  InterruptIn* armLimit;
-  DigitalOut *rscs;
-  PID *speedPID,*armPID;
+  DigitalOut *rscs,*armValve[2];
+  PID *speedPID;
   Timer rpmCalc;
   Timeout beltTime;
   Spiral* spiral;