Quadrifoglio / Robot

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Dependents:   00_yotsuba 200_yotsuba_21 200_yotuba_21_uiChange

robot.h@9:904dac75a729, 2021-03-04 (annotated)

Committer:
piroro4560
Date:
Thu Mar 04 11:58:52 2021 +0000
Revision:
9:904dac75a729
Parent:
8:713bbc1fb58f
Child:
12:19149697667d
robot

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 9:904dac75a729 4 #include "main.h"
piroro4560 9:904dac75a729 5 #include "sensorGen.h"
piroro4560 0:3f87ec23c3cf 6 #include "robo_config.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 0:3f87ec23c3cf 12
piroro4560 0:3f87ec23c3cf 13 class Robot
piroro4560 0:3f87ec23c3cf 14 {
piroro4560 0:3f87ec23c3cf 15 public :
piroro4560 9:904dac75a729 16 /**コンストラクタ
piroro4560 9:904dac75a729 17 * ピン設定
piroro4560 9:904dac75a729 18 */
piroro4560 0:3f87ec23c3cf 19 Robot();
piroro4560 0:3f87ec23c3cf 20
piroro4560 9:904dac75a729 21 /**ボールが見えてる時用だよ
piroro4560 9:904dac75a729 22 */
piroro4560 4:a4f94f186ba0 23 void chaseBall();
piroro4560 0:3f87ec23c3cf 24
piroro4560 9:904dac75a729 25 /**ボールを見失ってる時だよ
piroro4560 9:904dac75a729 26 */
piroro4560 1:6a5065829cfc 27 void lostBall();
piroro4560 0:3f87ec23c3cf 28
piroro4560 9:904dac75a729 29 /**強いよ
piroro4560 9:904dac75a729 30 */
piroro4560 9:904dac75a729 31 void start(uint8_t Team, uint8_t Algorithm);
piroro4560 1:6a5065829cfc 32
piroro4560 9:904dac75a729 33 /**モーターチェック
piroro4560 9:904dac75a729 34 */
THtakahiro702286 8:713bbc1fb58f 35 void motorCheck(int motorNumber, float power);
THtakahiro702286 8:713bbc1fb58f 36
piroro4560 9:904dac75a729 37 /**モーター以外のチェックをしてる時にモーターを止める関数だよ
piroro4560 9:904dac75a729 38 */
piroro4560 9:904dac75a729 39 void motorStop(double pwm);
THtakahiro702286 8:713bbc1fb58f 40
piroro4560 9:904dac75a729 41 /**キッカーチェックだよ
piroro4560 9:904dac75a729 42 */
THtakahiro702286 8:713bbc1fb58f 43 void kickCheck();
THtakahiro702286 8:713bbc1fb58f 44
piroro4560 9:904dac75a729 45 /**ドリブラーチェックだよ
piroro4560 9:904dac75a729 46 */
THtakahiro702286 8:713bbc1fb58f 47 void dribbleCheck(float power);
piroro4560 9:904dac75a729 48
piroro4560 9:904dac75a729 49 /**jyリセットだよ
piroro4560 9:904dac75a729 50 */
piroro4560 9:904dac75a729 51
piroro4560 9:904dac75a729 52 sensorgen sensor_;
piroro4560 9:904dac75a729 53 OmniWheel omni;
piroro4560 4:a4f94f186ba0 54
piroro4560 9:904dac75a729 55 private :
piroro4560 9:904dac75a729 56 KohiMD *motor[4];
piroro4560 9:904dac75a729 57 Solenoid shot;
piroro4560 9:904dac75a729 58 RCJESC drib;
piroro4560 9:904dac75a729 59 PID spin;
piroro4560 9:904dac75a729 60 BufferedSerial pc;
piroro4560 9:904dac75a729 61 Timer tim;
piroro4560 9:904dac75a729 62 Timer lineOut;
piroro4560 9:904dac75a729 63
piroro4560 9:904dac75a729 64 float theta;
piroro4560 9:904dac75a729 65 float towardAngle;
piroro4560 9:904dac75a729 66 float omni2wheel,omni3wheel;
piroro4560 9:904dac75a729 67 float spin_power, motorSpeed;
piroro4560 9:904dac75a729 68 bool startb=false;
piroro4560 9:904dac75a729 69 uint8_t i,_motorNumber;
piroro4560 4:a4f94f186ba0 70 };
piroro4560 0:3f87ec23c3cf 71
piroro4560 0:3f87ec23c3cf 72 #endif