main
Dependents: 00_yotsuba 200_yotsuba_21 200_yotuba_21_uiChange
robot.h
- Committer:
- THtakahiro702286
- Date:
- 2021-03-04
- Revision:
- 8:713bbc1fb58f
- Parent:
- 5:f5e79163d0eb
- Child:
- 9:904dac75a729
File content as of revision 8:713bbc1fb58f:
#ifndef ROBOT_H #define ROBOT_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 : Robot(); void chaseBall(); void lostBall(); void start(); // 強い奴はここ void motorCheck(int motorNumber, float power); void motorStop(); void kickCheck(); 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; 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; }; #endif