Quadrifoglio / Robot

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Dependents:   00_yotsuba 200_yotsuba_21 200_yotuba_21_uiChange

robot.h@8:713bbc1fb58f, 2021-03-04 (annotated)

Committer:
THtakahiro702286
Date:
Thu Mar 04 01:20:51 2021 +0000
Revision:
8:713bbc1fb58f
Parent:
5:f5e79163d0eb
Child:
9:904dac75a729
something add

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 2:fc5545ddf69a 5 #include "pin_config.h"
piroro4560 0:3f87ec23c3cf 6 #include "mbed.h"
piroro4560 0:3f87ec23c3cf 7 #include "kohiMD.h"
piroro4560 0:3f87ec23c3cf 8 #include "solenoid.h"
piroro4560 0:3f87ec23c3cf 9 #include "esc.h"
piroro4560 0:3f87ec23c3cf 10 #include "omni_wheel.h"
piroro4560 0:3f87ec23c3cf 11 #include "PID.h"
piroro4560 1:6a5065829cfc 12 #include "sensorGen.h"
piroro4560 4:a4f94f186ba0 13 #include "aqm0802.h"
piroro4560 0:3f87ec23c3cf 14
piroro4560 0:3f87ec23c3cf 15 class Robot
piroro4560 0:3f87ec23c3cf 16 {
piroro4560 0:3f87ec23c3cf 17 public :
piroro4560 0:3f87ec23c3cf 18 Robot();
piroro4560 0:3f87ec23c3cf 19
piroro4560 4:a4f94f186ba0 20 void chaseBall();
piroro4560 0:3f87ec23c3cf 21
piroro4560 1:6a5065829cfc 22 void lostBall();
piroro4560 0:3f87ec23c3cf 23
piroro4560 4:a4f94f186ba0 24 void start(); // 強い奴はここ
piroro4560 1:6a5065829cfc 25
THtakahiro702286 8:713bbc1fb58f 26 void motorCheck(int motorNumber, float power);
THtakahiro702286 8:713bbc1fb58f 27
THtakahiro702286 8:713bbc1fb58f 28 void motorStop();
THtakahiro702286 8:713bbc1fb58f 29
THtakahiro702286 8:713bbc1fb58f 30 void kickCheck();
THtakahiro702286 8:713bbc1fb58f 31
THtakahiro702286 8:713bbc1fb58f 32 void dribbleCheck(float power);
piroro4560 0:3f87ec23c3cf 33 private :
piroro4560 4:a4f94f186ba0 34 KohiMD *motor[4];
piroro4560 4:a4f94f186ba0 35 Solenoid shot;
piroro4560 4:a4f94f186ba0 36 RCJESC drib;
piroro4560 4:a4f94f186ba0 37 PID spin;
piroro4560 4:a4f94f186ba0 38 OmniWheel omni;
piroro4560 1:6a5065829cfc 39 Serial pc;
piroro4560 4:a4f94f186ba0 40 DigitalIn but;
piroro4560 4:a4f94f186ba0 41 Timer tim;
piroro4560 4:a4f94f186ba0 42 Timer lineOut;
piroro4560 4:a4f94f186ba0 43 sensor sensor;
piroro4560 4:a4f94f186ba0 44
piroro4560 4:a4f94f186ba0 45 DigitalIn dip1;
piroro4560 4:a4f94f186ba0 46 DigitalIn dip2;
piroro4560 4:a4f94f186ba0 47 DigitalIn dip3;
piroro4560 4:a4f94f186ba0 48 DigitalIn b1;
piroro4560 4:a4f94f186ba0 49 DigitalIn b2;
piroro4560 4:a4f94f186ba0 50 aqm0802 lcd;
piroro4560 4:a4f94f186ba0 51
piroro4560 1:6a5065829cfc 52
piroro4560 1:6a5065829cfc 53 float theta;
piroro4560 4:a4f94f186ba0 54 float towardAngle;
THtakahiro702286 5:f5e79163d0eb 55 float omni2wheel,omni3wheel;
piroro4560 4:a4f94f186ba0 56 float spin_power;
piroro4560 4:a4f94f186ba0 57 bool startb=0;
THtakahiro702286 8:713bbc1fb58f 58 int i,_motorNumber;
piroro4560 4:a4f94f186ba0 59 };
piroro4560 0:3f87ec23c3cf 60
piroro4560 0:3f87ec23c3cf 61 #endif