Diff: robot.h

Revision:

4:a4f94f186ba0

Parent:

2:fc5545ddf69a

Child:

5:f5e79163d0eb

--- a/robot.h	Thu Jan 30 15:50:22 2020 +0000
+++ b/robot.h	Fri Jan 31 09:20:07 2020 +0000
@@ -10,39 +10,44 @@
 #include "omni_wheel.h"
 #include "PID.h"
 #include "sensorGen.h"
-#include "ui.h"
+#include "aqm0802.h"
 
 class Robot
-    : ui
 {
 public :
     Robot();
     
-    void chaseBall(float ball_theta, float r);
+    void chaseBall();
     
     void lostBall();
     
-    void moveGoal(float r, float goal_);
-    
-    void detour();
-    
-    void outLine(float r, );
-    
-    void shotBall();
-    
-    void test(sensor.angleLimit);
+    void start(); // 強い奴はここ
     
 private :
-    kohiMD *motor[4];
-    solenoid shot;
-    esc drib();
-    PID spin();
-    omniwheel omni;
+    KohiMD *motor[4];    
+    Solenoid shot;
+    RCJESC drib;
+    PID spin;
+    OmniWheel omni;
     Serial pc;
-    Timer time;
+    DigitalIn but;
+    Timer tim;
+    Timer lineOut;
+    sensor sensor;
+    
+    DigitalIn dip1;
+    DigitalIn dip2;
+    DigitalIn dip3;
+    DigitalIn b1;
+    DigitalIn b2;
+    aqm0802   lcd;
+    
     
     float theta;
-    float toward
-}
+    float towardAngle;
+    float omni2wheel;
+    float spin_power;
+    bool startb=0;
+};
 
 #endif
\ No newline at end of file