基本クラス

Dependents:   300_PS3com Quadrifoglio_PS3COM

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Show/hide line numbers Master.cpp Source File

Master.cpp

00001 #include "Master.h"
00002 
00003 Master::Master() :
00004       pc(USBTX, USBRX, 115200)
00005       ,shot(Pin_Kicker)
00006       ,drib(Pin_Dribbler)
00007 {
00008     motor[0] = new KohiMD(Pin_motor_0);
00009     motor[1] = new KohiMD(Pin_motor_1);
00010     motor[2] = new KohiMD(Pin_motor_2);
00011     motor[3] = new KohiMD(Pin_motor_3);
00012     shot.setkickperiod(Kicker_Period);
00013     shot.setoutputtime(Kicker_OutPutTime);
00014     drib.setspeed(0.0);
00015 }
00016 
00017 void Master::Shot()
00018 {
00019     shot.outPut();
00020 }
00021 
00022 void Master::Dribble(float power)
00023 {
00024     drib.setspeed(power);
00025 }
00026 
00027 void Master::SetValueMotor(int num, double val)
00028 {
00029     motor[num]->setSpeed(val);
00030 }