Quadrifoglio / Robot

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Dependents:   00_yotsuba 200_yotsuba_21 200_yotuba_21_uiChange

robot.h@0:3f87ec23c3cf, 2020-01-30 (annotated)

Committer:
piroro4560
Date:
Thu Jan 30 10:24:20 2020 +0000
Revision:
0:3f87ec23c3cf
Child:
1:6a5065829cfc
general movement

Who changed what in which revision?

UserRevisionLine numberNew contents of line
piroro4560 0:3f87ec23c3cf 1 #ifndef ROBOT_H
piroro4560 0:3f87ec23c3cf 2 #define ROBOT_H
piroro4560 0:3f87ec23c3cf 3
piroro4560 0:3f87ec23c3cf 4 #include "robo_config.h"
piroro4560 0:3f87ec23c3cf 5 #include "mbed.h"
piroro4560 0:3f87ec23c3cf 6 #include "kohiMD.h"
piroro4560 0:3f87ec23c3cf 7 #include "solenoid.h"
piroro4560 0:3f87ec23c3cf 8 #include "esc.h"
piroro4560 0:3f87ec23c3cf 9 #include "omni_wheel.h"
piroro4560 0:3f87ec23c3cf 10 #include "PID.h"
piroro4560 0:3f87ec23c3cf 11
piroro4560 0:3f87ec23c3cf 12 class Robot
piroro4560 0:3f87ec23c3cf 13 {
piroro4560 0:3f87ec23c3cf 14 public :
piroro4560 0:3f87ec23c3cf 15 Robot();
piroro4560 0:3f87ec23c3cf 16
piroro4560 0:3f87ec23c3cf 17 void chaseBall(float ball_theta, float r);
piroro4560 0:3f87ec23c3cf 18
piroro4560 0:3f87ec23c3cf 19 void sesarchBall();
piroro4560 0:3f87ec23c3cf 20
piroro4560 0:3f87ec23c3cf 21 void moveGoal(float r, float goal_);
piroro4560 0:3f87ec23c3cf 22
piroro4560 0:3f87ec23c3cf 23 void detour();
piroro4560 0:3f87ec23c3cf 24
piroro4560 0:3f87ec23c3cf 25 void outLine(float r, );
piroro4560 0:3f87ec23c3cf 26
piroro4560 0:3f87ec23c3cf 27 void shotBall();
piroro4560 0:3f87ec23c3cf 28
piroro4560 0:3f87ec23c3cf 29 private :
piroro4560 0:3f87ec23c3cf 30 kohiMD *motor[4];
piroro4560 0:3f87ec23c3cf 31 solenoid kick();
piroro4560 0:3f87ec23c3cf 32 esc drib();
piroro4560 0:3f87ec23c3cf 33 PID spin();
piroro4560 0:3f87ec23c3cf 34 omniwheel omni;
piroro4560 0:3f87ec23c3cf 35 }
piroro4560 0:3f87ec23c3cf 36
piroro4560 0:3f87ec23c3cf 37 #endif