Diff: Master.cpp

Revision:

0:e2da5742a718

Child:

1:60319e61775d

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Master.cpp	Sat Jun 11 13:24:51 2022 +0000
@@ -0,0 +1,54 @@
+#include "Master.h"
+
+Master::Master() :
+      pc(USBTX, USBRX, 115200)
+      ,shot(kicker)
+      ,drib(ESCpin)
+{
+    motor[0] = new KohiMD(PA_15);
+    motor[1] = new KohiMD(PA_6);
+    motor[2] = new KohiMD(PA_7);
+    motor[3] = new KohiMD(PB_6);
+    shot.setkickperiod(2.0);
+    shot.setoutputtime(0.1);
+    drib.setspeed(0.0);
+}
+
+void Master::SetPS3Address(bool *button_, uint8_t *trigger_, uint8_t *stick_)
+{
+    button = button_;
+    stick = stick_;
+    trigger = trigger_;
+}
+
+void Master::PS3Com()
+{
+    for(int i=0; i < 4; i++) {   
+        if (button[i+4]) {
+            pwm = 0.5;
+        } else if (button[i+4+4]){
+            pwm = -0.5;
+        } else {
+            pwm = 0;
+        }
+//        md[i].setSpeed(pwm);
+        SetValueMotor(i, 0.2);
+    }
+    if (button[2]) Shot();
+    if (button[3]) Dribble(0.6);
+}
+    
+void Master::Shot()
+{
+    shot.outPut();
+}
+    
+void Master::Dribble(float power)
+{
+    drib.setspeed(power);
+}
+    
+void Master::SetValueMotor(int num, double val)
+{
+    motor[num]->setSpeed(val);
+}
\ No newline at end of file