Quadrifoglio / Master

基本クラス

Dependents:   300_PS3com Quadrifoglio_PS3COM

Master.cpp

Committer:
piroro4560
Date:
2022-06-18
Revision:
3:9b1aefdd251a
Parent:
2:9d9681465f4a
Child:
4:c9ef83cbe905

File content as of revision 3:9b1aefdd251a:

#include "Master.h"

Master::Master() :
      pc(USBTX, USBRX, 115200)
      ,shot(Pin_Kicker)
      ,drib(Pin_Dribbler)
{
    motor[0] = new KohiMD(Pin_motor_0);
    motor[1] = new KohiMD(Pin_motor_1);
    motor[2] = new KohiMD(Pin_motor_2);
    motor[3] = new KohiMD(Pin_motor_3);
    shot.setkickperiod(2.0);
    shot.setoutputtime(0.15);
    drib.setspeed(0.0);
}

void Master::SetPS3Address(bool *button_, uint8_t *trigger_, uint8_t *stick_)
{
    button = button_;
    stick = stick_;
    trigger = trigger_;
}

void Master::Shot()
{
    shot.outPut();
}

void Master::Dribble(float power)
{
    drib.setspeed(power);
}

void Master::SetValueMotor(int num, double val)
{
    motor[num]->setSpeed(val);
}