Revision 4:c9ef83cbe905, committed 2022-06-23

Comitter:

piroro4560

Date:

Thu Jun 23 15:01:48 2022 +0000

Parent:

3:9b1aefdd251a

Commit message:

delete PS3_COM; delete OmniWheel

Changed in this revision

--- a/Master.cpp	Sat Jun 18 08:42:38 2022 +0000
+++ b/Master.cpp	Thu Jun 23 15:01:48 2022 +0000
@@ -9,18 +9,11 @@
     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);
+    shot.setkickperiod(Kicker_Period);
+    shot.setoutputtime(Kicker_OutPutTime);
     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();

--- a/Master.h	Sat Jun 18 08:42:38 2022 +0000
+++ b/Master.h	Thu Jun 23 15:01:48 2022 +0000
@@ -4,49 +4,45 @@
 #include "main.h"
 #include "kohiMD.h"
 #include "solenoid.h"
-#include "omni_wheel.h"
 #include "esc.h"
 
 class Master
 {
 public :
-    /**コンストラクタ
-     * ピン設定
-     */
+    ///
+    /// @fn Master()
+    /// @brief コンストラクター
+    /// @detail ピンはmain.hで定義
+    ///
     Master();
     
-    /**PS3のボタンのアドレスをセットする
-     */
-    void SetPS3Address(bool *button_, uint8_t *trigger_, uint8_t *stick_);
-    
-    /**一発撃つ
-     */
+    ///
+    /// @fn Shot()
+    /// @brief ソレノイドを駆動させる
+    /// @detail ソレノイドのパワーはmain.hで定義
+    ///
     void Shot();
     
-    /**ドリブルする
-     */
+    ///
+    /// @fn Dribble(float power)
+    /// @brief ドリブラーを回す
+    /// @param power ドリブラの回転速度
+    ///
     void Dribble(float power);
     
-    /**モーター出力
-     */
+    ///
+    /// @fn SetValueMotor(int num, double val)
+    /// @brief 足回りモーターを回す
+    /// @param num 回すモーターの番号
+    /// @param val 速度(-1 ~ 1)
+    ///
     void SetValueMotor(int num, double val);
     
-//  private :
+private :
     BufferedSerial pc;
     KohiMD         *motor[4];
     Solenoid       shot;
     RCJESC         drib;
-    
-    Ticker test;
-    Ticker PS3com;
-    OmniWheel omni;
-
-    uint8_t h1,h2;
-    bool    *button;
-    uint8_t *trigger;
-    uint8_t *stick;
-    double  pwm = 0.0;
-    float   spin_power;
 };
 
 #endif
\ No newline at end of file