Quadrifoglio / Robot

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Dependents:   00_yotsuba 200_yotsuba_21 200_yotuba_21_uiChange

robot.h

Committer:
THtakahiro702286
Date:
2020-02-01
Revision:
5:f5e79163d0eb
Parent:
4:a4f94f186ba0
Child:
6:dee6041c3d15
Child:
8:713bbc1fb58f

File content as of revision 5:f5e79163d0eb:

#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;
    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;
};

#endif