main
Dependents: 00_yotsuba 200_yotsuba_21 200_yotuba_21_uiChange
Diff: robot.h
- Revision:
- 9:904dac75a729
- Parent:
- 8:713bbc1fb58f
- Child:
- 12:19149697667d
--- a/robot.h Thu Mar 04 01:20:51 2021 +0000 +++ b/robot.h Thu Mar 04 11:58:52 2021 +0000 @@ -1,61 +1,72 @@ #ifndef ROBOT_H #define ROBOT_H +#include "main.h" +#include "sensorGen.h" #include "robo_config.h" -#include "pin_config.h" -#include "mbed.h" #include "kohiMD.h" #include "solenoid.h" #include "esc.h" #include "omni_wheel.h" #include "PID.h" -#include "sensorGen.h" -#include "aqm0802.h" class Robot { public : + /**コンストラクタ + * ピン設定 + */ Robot(); + /**ボールが見えてる時用だよ + */ void chaseBall(); + /**ボールを見失ってる時だよ + */ void lostBall(); - void start(); // 強い奴はここ + /**強いよ + */ + void start(uint8_t Team, uint8_t Algorithm); + /**モーターチェック + */ void motorCheck(int motorNumber, float power); - void motorStop(); + /**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 + */ + void motorStop(double pwm); + /**キッカーチェックだよ + */ void kickCheck(); + /**ドリブラーチェックだよ + */ void dribbleCheck(float power); -private : - KohiMD *motor[4]; - Solenoid shot; - RCJESC drib; - PID spin; - OmniWheel omni; - Serial pc; - DigitalIn but; - Timer tim; - Timer lineOut; - sensor sensor; + + /**jyリセットだよ + */ + + sensorgen sensor_; + OmniWheel omni; - DigitalIn dip1; - DigitalIn dip2; - DigitalIn dip3; - DigitalIn b1; - DigitalIn b2; - aqm0802 lcd; - - - float theta; - float towardAngle; - float omni2wheel,omni3wheel; - float spin_power; - bool startb=0; - int i,_motorNumber; +private : + KohiMD *motor[4]; + Solenoid shot; + RCJESC drib; + PID spin; + BufferedSerial pc; + Timer tim; + Timer lineOut; + + float theta; + float towardAngle; + float omni2wheel,omni3wheel; + float spin_power, motorSpeed; + bool startb=false; + uint8_t i,_motorNumber; }; #endif \ No newline at end of file