Quadrifoglio / Robot

main

Dependents:   00_yotsuba 200_yotsuba_21 200_yotuba_21_uiChange

Diff: robot.cpp

Revision:
8:713bbc1fb58f
Parent:
7:dcc0faa86da7
Child:
9:904dac75a729
--- a/robot.cpp	Sun Feb 02 04:28:14 2020 +0000
+++ b/robot.cpp	Thu Mar 04 01:20:51 2021 +0000
@@ -116,3 +116,31 @@
             
     }
 }
+
+void Robot::motorCheck(int motorNumber, float power)
+{
+    _motorNumber = motorNumber;
+    for(i = 3; i >= 0; i++)
+    {
+        if(_motorNumber % 2) motor[i] -> setSpeed(power);
+        _motorNumber /= 2;
+    }
+}
+
+void Robot::motorStop()
+{
+    for(i=0; i<4; i++) motor[i] -> setSpeed(0);
+}
+
+void Robot::kickCheck()
+{
+    shot.outPut();
+}
+
+void Robot::dribbleCheck(float power)
+{
+    drib.setspeed(power);
+}
+
+//        theta = sensor.ballAngle * ballExtra * PI / 180.0;
+//            omni.computeCircular(sensor.ballRange,PI / 180.0 * sensor.ballAngle + theta, spin_power);