Quadrifoglio / Robot

main

Dependents:   00_yotsuba 200_yotsuba_21 200_yotuba_21_uiChange

robot.h

Committer:
piroro4560
Date:
2020-01-30
Revision:
2:fc5545ddf69a
Parent:
1:6a5065829cfc
Child:
4:a4f94f186ba0

File content as of revision 2:fc5545ddf69a:

#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 "ui.h"

class Robot
    : ui
{
public :
    Robot();
    
    void chaseBall(float ball_theta, float r);
    
    void lostBall();
    
    void moveGoal(float r, float goal_);
    
    void detour();
    
    void outLine(float r, );
    
    void shotBall();
    
    void test(sensor.angleLimit);
    
private :
    kohiMD *motor[4];
    solenoid shot;
    esc drib();
    PID spin();
    omniwheel omni;
    Serial pc;
    Timer time;
    
    float theta;
    float toward
}

#endif