Quadrifoglio / Master

基本クラス

Dependents:   300_PS3com Quadrifoglio_PS3COM

Master.cpp@3:9b1aefdd251a, 2022-06-18 (annotated)

Committer:
piroro4560
Date:
Sat Jun 18 08:42:38 2022 +0000
Revision:
3:9b1aefdd251a
Parent:
2:9d9681465f4a
Child:
4:c9ef83cbe905
Successful shoot and kick

Who changed what in which revision?

UserRevisionLine numberNew contents of line
piroro4560 0:e2da5742a718 1 #include "Master.h"
piroro4560 0:e2da5742a718 2
piroro4560 0:e2da5742a718 3 Master::Master() :
piroro4560 0:e2da5742a718 4 pc(USBTX, USBRX, 115200)
piroro4560 3:9b1aefdd251a 5 ,shot(Pin_Kicker)
piroro4560 3:9b1aefdd251a 6 ,drib(Pin_Dribbler)
piroro4560 0:e2da5742a718 7 {
piroro4560 1:60319e61775d 8 motor[0] = new KohiMD(Pin_motor_0);
piroro4560 1:60319e61775d 9 motor[1] = new KohiMD(Pin_motor_1);
piroro4560 1:60319e61775d 10 motor[2] = new KohiMD(Pin_motor_2);
piroro4560 1:60319e61775d 11 motor[3] = new KohiMD(Pin_motor_3);
piroro4560 0:e2da5742a718 12 shot.setkickperiod(2.0);
piroro4560 3:9b1aefdd251a 13 shot.setoutputtime(0.15);
piroro4560 0:e2da5742a718 14 drib.setspeed(0.0);
piroro4560 0:e2da5742a718 15 }
piroro4560 0:e2da5742a718 16
piroro4560 0:e2da5742a718 17 void Master::SetPS3Address(bool *button_, uint8_t *trigger_, uint8_t *stick_)
piroro4560 0:e2da5742a718 18 {
piroro4560 0:e2da5742a718 19 button = button_;
piroro4560 0:e2da5742a718 20 stick = stick_;
piroro4560 0:e2da5742a718 21 trigger = trigger_;
piroro4560 0:e2da5742a718 22 }
piroro4560 0:e2da5742a718 23
piroro4560 0:e2da5742a718 24 void Master::Shot()
piroro4560 0:e2da5742a718 25 {
piroro4560 0:e2da5742a718 26 shot.outPut();
piroro4560 0:e2da5742a718 27 }
piroro4560 2:9d9681465f4a 28
piroro4560 0:e2da5742a718 29 void Master::Dribble(float power)
piroro4560 0:e2da5742a718 30 {
piroro4560 0:e2da5742a718 31 drib.setspeed(power);
piroro4560 0:e2da5742a718 32 }
piroro4560 2:9d9681465f4a 33
piroro4560 0:e2da5742a718 34 void Master::SetValueMotor(int num, double val)
piroro4560 0:e2da5742a718 35 {
piroro4560 0:e2da5742a718 36 motor[num]->setSpeed(val);
piroro4560 0:e2da5742a718 37 }