Quadrifoglio / Robot

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Dependents:   00_yotsuba 200_yotsuba_21 200_yotuba_21_uiChange

robot.cpp@1:6a5065829cfc, 2020-01-30 (annotated)

Committer:
piroro4560
Date:
Thu Jan 30 13:58:01 2020 +0000
Revision:
1:6a5065829cfc
Parent:
0:3f87ec23c3cf
Child:
2:fc5545ddf69a
a

Who changed what in which revision?

UserRevisionLine numberNew contents of line
piroro4560 0:3f87ec23c3cf 1 #include "robot.h"
piroro4560 0:3f87ec23c3cf 2
piroro4560 0:3f87ec23c3cf 3 robot::robot()
piroro4560 1:6a5065829cfc 4 : spin(P, I, D, interval),
piroro4560 1:6a5065829cfc 5 pc(USBTX, USBRX, 115200),
piroro4560 1:6a5065829cfc 6 shot(kicker),
piroro4560 1:6a5065829cfc 7
piroro4560 0:3f87ec23c3cf 8 {
piroro4560 0:3f87ec23c3cf 9 omni.wheel[0].setRadian(PI/4 * 1);
piroro4560 0:3f87ec23c3cf 10 omni.wheel[1].setRadian(PI/4 * 3);
piroro4560 0:3f87ec23c3cf 11 omni.wheel[2].setRadian(PI/4 * 5);
piroro4560 0:3f87ec23c3cf 12 omni.wheel[3].setRadian(PI/4 * 7);
piroro4560 0:3f87ec23c3cf 13 motor[0] = new kohiMD(PA_6);
piroro4560 0:3f87ec23c3cf 14 motor[1] = new kohiMD(PA_7);
piroro4560 0:3f87ec23c3cf 15 motor[2] = new kohiMD(PA_9);
piroro4560 0:3f87ec23c3cf 16 motor[3] = new kohiMD(PB_10);
piroro4560 1:6a5065829cfc 17 spin.setInputLimits(-180, 180);
piroro4560 1:6a5065829cfc 18 spin.setOutputLimits(-0.3,0.3);
piroro4560 1:6a5065829cfc 19 spin.setBias(0);
piroro4560 1:6a5065829cfc 20 spin.setMode(1);
piroro4560 1:6a5065829cfc 21 spin.setSetPoint(0);
piroro4560 1:6a5065829cfc 22 shot.setkickperiod(0.5);
piroro4560 1:6a5065829cfc 23 shot.setoutputtime(0.01);
piroro4560 1:6a5065829cfc 24 ui.beep(1000, 1.0);
piroro4560 0:3f87ec23c3cf 25 }
piroro4560 0:3f87ec23c3cf 26
piroro4560 1:6a5065829cfc 27 void robot::chaseBall(float ball_theta, float ball_dis, float r)
piroro4560 0:3f87ec23c3cf 28 {
piroro4560 1:6a5065829cfc 29 theta = ball_theta + ballExtra * ((r > 0) - (r <= 0));
piroro4560 1:6a5065829cfc 30 spin.setProcessValue(r);
piroro4560 1:6a5065829cfc 31 omni.computeCircular( ,spin.compute());
piroro4560 0:3f87ec23c3cf 32 }
piroro4560 0:3f87ec23c3cf 33
piroro4560 1:6a5065829cfc 34 void robot::lostBall()
piroro4560 0:3f87ec23c3cf 35 {
piroro4560 0:3f87ec23c3cf 36
piroro4560 0:3f87ec23c3cf 37 }
piroro4560 0:3f87ec23c3cf 38
piroro4560 0:3f87ec23c3cf 39 void robot::moveGoal(float r, float goal_size, float goal_)
piroro4560 0:3f87ec23c3cf 40 {
piroro4560 0:3f87ec23c3cf 41
piroro4560 0:3f87ec23c3cf 42 }
piroro4560 0:3f87ec23c3cf 43
piroro4560 0:3f87ec23c3cf 44 void robot::detour()
piroro4560 0:3f87ec23c3cf 45 {
piroro4560 0:3f87ec23c3cf 46
piroro4560 0:3f87ec23c3cf 47 }
piroro4560 0:3f87ec23c3cf 48
piroro4560 0:3f87ec23c3cf 49 void robot::outLine(float r, line)
piroro4560 0:3f87ec23c3cf 50 {
piroro4560 0:3f87ec23c3cf 51
piroro4560 0:3f87ec23c3cf 52 }
piroro4560 0:3f87ec23c3cf 53
piroro4560 0:3f87ec23c3cf 54
piroro4560 0:3f87ec23c3cf 55
piroro4560 0:3f87ec23c3cf 56 void robot::shotBall()
piroro4560 0:3f87ec23c3cf 57 {
piroro4560 1:6a5065829cfc 58 shot.outPut;
piroro4560 1:6a5065829cfc 59 }
piroro4560 1:6a5065829cfc 60
piroro4560 1:6a5065829cfc 61 void test()
piroro4560 1:6a5065829cfc 62 {
piroro4560 1:6a5065829cfc 63 while(1) {
piroro4560 1:6a5065829cfc 64 for (int i=0; i<4; i++) {
piroro4560 1:6a5065829cfc 65 motor[i]->setSpeed(0.2);
piroro4560 1:6a5065829cfc 66 wait(1.0);
piroro4560 1:6a5065829cfc 67 }
piroro4560 1:6a5065829cfc 68 for (int i=0; i<4; i++) {
piroro4560 1:6a5065829cfc 69 motor[i]->setSpeed(-0.2);
piroro4560 1:6a5065829cfc 70 wait(1.0);
piroro4560 1:6a5065829cfc 71 }
piroro4560 1:6a5065829cfc 72
piroro4560 1:6a5065829cfc 73 }
piroro4560 0:3f87ec23c3cf 74 }