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:
- 6:0bee4b2bb400
- Parent:
- 4:c2b09fa31492
- Child:
- 11:68defd561031
diff -r 9c52e6c14c87 -r 0bee4b2bb400 hayatoBoomerang.h --- 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;