Quadrifoglio / Robot

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Dependents:   00_yotsuba 200_yotsuba_21 200_yotuba_21_uiChange

robot.h@5:f5e79163d0eb, 2020-02-01 (annotated)

Committer:
THtakahiro702286
Date:
Sat Feb 01 03:02:18 2020 +0000
Revision:
5:f5e79163d0eb
Parent:
4:a4f94f186ba0
Child:
6:dee6041c3d15
Child:
8:713bbc1fb58f
ugoia ayasii

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 Timer tim;
piroro4560 4:a4f94f186ba0 35 Timer lineOut;
piroro4560 4:a4f94f186ba0 36 sensor sensor;
piroro4560 4:a4f94f186ba0 37
piroro4560 4:a4f94f186ba0 38 DigitalIn dip1;
piroro4560 4:a4f94f186ba0 39 DigitalIn dip2;
piroro4560 4:a4f94f186ba0 40 DigitalIn dip3;
piroro4560 4:a4f94f186ba0 41 DigitalIn b1;
piroro4560 4:a4f94f186ba0 42 DigitalIn b2;
piroro4560 4:a4f94f186ba0 43 aqm0802 lcd;
piroro4560 4:a4f94f186ba0 44
piroro4560 1:6a5065829cfc 45
piroro4560 1:6a5065829cfc 46 float theta;
piroro4560 4:a4f94f186ba0 47 float towardAngle;
THtakahiro702286 5:f5e79163d0eb 48 float omni2wheel,omni3wheel;
piroro4560 4:a4f94f186ba0 49 float spin_power;
piroro4560 4:a4f94f186ba0 50 bool startb=0;
piroro4560 4:a4f94f186ba0 51 };
piroro4560 0:3f87ec23c3cf 52
piroro4560 0:3f87ec23c3cf 53 #endif