File content as of revision 6:dee6041c3d15:

#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
    
private :
    KohiMD *motor[4];    
    Solenoid shot;
    RCJESC drib;
    PID spin;
    OmniWheel omni;
    Serial pc;
    DigitalIn but;
    sensor sensor;
    
    DigitalIn dip1;
    DigitalIn dip2;
    DigitalIn dip3;
    DigitalIn b1;
    DigitalIn b2;
    aqm0802   lcd;
    
    
    float theta;
    float towardAngle;
    float omni1wheel, omni2wheel, omni3wheel, omni0wheel;
    float value[0];
    float spin_power;
    bool startb=0;
    int backcount;
    int linecount[4];
    float lineAngle;
};

#endif