Quadrifoglio / Robot

main

Dependents:   00_yotsuba 200_yotsuba_21 200_yotuba_21_uiChange

robot.h@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 #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 1:6a5065829cfc 11 #include "sensorGen.h"
piroro4560 1:6a5065829cfc 12 #include "ui.h"
piroro4560 0:3f87ec23c3cf 13
piroro4560 0:3f87ec23c3cf 14 class Robot
piroro4560 1:6a5065829cfc 15 : ui
piroro4560 0:3f87ec23c3cf 16 {
piroro4560 0:3f87ec23c3cf 17 public :
piroro4560 0:3f87ec23c3cf 18 Robot();
piroro4560 0:3f87ec23c3cf 19
piroro4560 0:3f87ec23c3cf 20 void chaseBall(float ball_theta, float r);
piroro4560 0:3f87ec23c3cf 21
piroro4560 1:6a5065829cfc 22 void lostBall();
piroro4560 0:3f87ec23c3cf 23
piroro4560 0:3f87ec23c3cf 24 void moveGoal(float r, float goal_);
piroro4560 0:3f87ec23c3cf 25
piroro4560 0:3f87ec23c3cf 26 void detour();
piroro4560 0:3f87ec23c3cf 27
piroro4560 0:3f87ec23c3cf 28 void outLine(float r, );
piroro4560 0:3f87ec23c3cf 29
piroro4560 0:3f87ec23c3cf 30 void shotBall();
piroro4560 0:3f87ec23c3cf 31
piroro4560 1:6a5065829cfc 32 void test(sensor.angleLimit);
piroro4560 1:6a5065829cfc 33
piroro4560 0:3f87ec23c3cf 34 private :
piroro4560 0:3f87ec23c3cf 35 kohiMD *motor[4];
piroro4560 1:6a5065829cfc 36 solenoid shot;
piroro4560 0:3f87ec23c3cf 37 esc drib();
piroro4560 0:3f87ec23c3cf 38 PID spin();
piroro4560 0:3f87ec23c3cf 39 omniwheel omni;
piroro4560 1:6a5065829cfc 40 Serial pc;
piroro4560 1:6a5065829cfc 41
piroro4560 1:6a5065829cfc 42 float theta;
piroro4560 0:3f87ec23c3cf 43 }
piroro4560 0:3f87ec23c3cf 44
piroro4560 0:3f87ec23c3cf 45 #endif