Quadrifoglio / Robot

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Dependents:   00_yotsuba 200_yotsuba_21 200_yotuba_21_uiChange

robot.h@6:dee6041c3d15, 2020-02-01 (annotated)

Committer:
piroro4560
Date:
Sat Feb 01 15:12:19 2020 +0000
Revision:
6:dee6041c3d15
Parent:
5:f5e79163d0eb 
add count camera signal

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
piroro4560 0:3f87ec23c3cf 26 private :
piroro4560 4:a4f94f186ba0 27 KohiMD *motor[4];
piroro4560 4:a4f94f186ba0 28 Solenoid shot;
piroro4560 4:a4f94f186ba0 29 RCJESC drib;
piroro4560 4:a4f94f186ba0 30 PID spin;
piroro4560 4:a4f94f186ba0 31 OmniWheel omni;
piroro4560 1:6a5065829cfc 32 Serial pc;
piroro4560 4:a4f94f186ba0 33 DigitalIn but;
piroro4560 4:a4f94f186ba0 34 sensor sensor;
piroro4560 4:a4f94f186ba0 35
piroro4560 4:a4f94f186ba0 36 DigitalIn dip1;
piroro4560 4:a4f94f186ba0 37 DigitalIn dip2;
piroro4560 4:a4f94f186ba0 38 DigitalIn dip3;
piroro4560 4:a4f94f186ba0 39 DigitalIn b1;
piroro4560 4:a4f94f186ba0 40 DigitalIn b2;
piroro4560 4:a4f94f186ba0 41 aqm0802 lcd;
piroro4560 4:a4f94f186ba0 42
piroro4560 1:6a5065829cfc 43
piroro4560 1:6a5065829cfc 44 float theta;
piroro4560 4:a4f94f186ba0 45 float towardAngle;
piroro4560 6:dee6041c3d15 46 float omni1wheel, omni2wheel, omni3wheel, omni0wheel;
piroro4560 6:dee6041c3d15 47 float value[0];
piroro4560 4:a4f94f186ba0 48 float spin_power;
piroro4560 4:a4f94f186ba0 49 bool startb=0;
piroro4560 6:dee6041c3d15 50 int backcount;
piroro4560 6:dee6041c3d15 51 int linecount[4];
piroro4560 6:dee6041c3d15 52 float lineAngle;
piroro4560 4:a4f94f186ba0 53 };
piroro4560 0:3f87ec23c3cf 54
piroro4560 0:3f87ec23c3cf 55 #endif