Quadrifoglio / Robot

main

Dependents:   00_yotsuba 200_yotsuba_21 200_yotuba_21_uiChange

robot.h@16:e3846421554b, 2021-03-07 (annotated)

Committer:
THtakahiro702286
Date:
Sun Mar 07 12:23:16 2021 +0000
Revision:
16:e3846421554b
Parent:
15:da88e62863a1 
victory!!!!

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 12:19149697667d 33 /**PIDだけだよ
piroro4560 12:19149697667d 34 */
piroro4560 12:19149697667d 35 void pidtest();
piroro4560 12:19149697667d 36
piroro4560 9:904dac75a729 37 /**モーターチェック
piroro4560 9:904dac75a729 38 */
THtakahiro702286 8:713bbc1fb58f 39 void motorCheck(int motorNumber, float power);
THtakahiro702286 8:713bbc1fb58f 40
piroro4560 9:904dac75a729 41 /**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 42 */
piroro4560 9:904dac75a729 43 void motorStop(double pwm);
THtakahiro702286 8:713bbc1fb58f 44
piroro4560 9:904dac75a729 45 /**キッカーチェックだよ
piroro4560 9:904dac75a729 46 */
THtakahiro702286 8:713bbc1fb58f 47 void kickCheck();
THtakahiro702286 8:713bbc1fb58f 48
piroro4560 9:904dac75a729 49 /**ドリブラーチェックだよ
piroro4560 9:904dac75a729 50 */
THtakahiro702286 8:713bbc1fb58f 51 void dribbleCheck(float power);
piroro4560 9:904dac75a729 52
THtakahiro702286 13:d61a64c81c16 53 /**回り込みだよ
THtakahiro702286 13:d61a64c81c16 54 */
THtakahiro702286 13:d61a64c81c16 55 void moveTest();
THtakahiro702286 13:d61a64c81c16 56
piroro4560 9:904dac75a729 57 /**jyリセットだよ
piroro4560 9:904dac75a729 58 */
piroro4560 9:904dac75a729 59
piroro4560 9:904dac75a729 60 sensorgen sensor_;
piroro4560 9:904dac75a729 61 OmniWheel omni;
piroro4560 4:a4f94f186ba0 62
piroro4560 9:904dac75a729 63 private :
piroro4560 12:19149697667d 64 KohiMD *motor[4];
piroro4560 9:904dac75a729 65 Solenoid shot;
piroro4560 9:904dac75a729 66 RCJESC drib;
THtakahiro702286 15:da88e62863a1 67 PID spin,sgoal;
piroro4560 9:904dac75a729 68 BufferedSerial pc;
piroro4560 9:904dac75a729 69 Timer tim;
piroro4560 9:904dac75a729 70 Timer lineOut;
piroro4560 9:904dac75a729 71
piroro4560 9:904dac75a729 72 float theta;
piroro4560 9:904dac75a729 73 float towardAngle;
piroro4560 9:904dac75a729 74 float omni2wheel,omni3wheel;
piroro4560 12:19149697667d 75 float spin_power, motorSpeed, thisSpeed[4];
THtakahiro702286 15:da88e62863a1 76 bool startb=false,lineflag=0;
piroro4560 9:904dac75a729 77 uint8_t i,_motorNumber;
piroro4560 4:a4f94f186ba0 78 };
piroro4560 0:3f87ec23c3cf 79
piroro4560 0:3f87ec23c3cf 80 #endif