Quadrifoglio / Robot

main

Dependents:   00_yotsuba 200_yotsuba_21 200_yotuba_21_uiChange

robot.cpp

Committer:
piroro4560
Date:
2020-01-30
Revision:
0:3f87ec23c3cf
Child:
1:6a5065829cfc

File content as of revision 0:3f87ec23c3cf:

#include "robot.h"

robot::robot()
    : spin(P, I, D, interval)
{
    omni.wheel[0].setRadian(PI/4 * 1);
    omni.wheel[1].setRadian(PI/4 * 3);
    omni.wheel[2].setRadian(PI/4 * 5);
    omni.wheel[3].setRadian(PI/4 * 7);
    motor[0] = new kohiMD(PA_6);
    motor[1] = new kohiMD(PA_7);
    motor[2] = new kohiMD(PA_9);
    motor[3] = new kohiMD(PB_10);
    pid1.setInputLimits(-180,180);
    pid1.setOutputLimits(-0.3,0.3);
    pid1.setBias(0);
    pid1.setMode(1);
    pid1.setSetPoint(0);
}

void robot::chaseBall(float ball_theta, float r)
{
    omni.compute();
}

void robot::searchBall()
{
    
}

void robot::moveGoal(float r, float goal_size, float goal_)
{
    
}

void robot::detour()
{
    
}

void robot::outLine(float r, line)
{
    
}



void robot::shotBall()
{
    
}