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Dependents: 00_yotsuba 200_yotsuba_21 200_yotuba_21_uiChange
robot.h@0:3f87ec23c3cf, 2020-01-30 (annotated)
- Committer:
- piroro4560
- Date:
- Thu Jan 30 10:24:20 2020 +0000
- Revision:
- 0:3f87ec23c3cf
- Child:
- 1:6a5065829cfc
general movement
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
piroro4560 | 0:3f87ec23c3cf | 1 | #ifndef ROBOT_H |
piroro4560 | 0:3f87ec23c3cf | 2 | #define ROBOT_H |
piroro4560 | 0:3f87ec23c3cf | 3 | |
piroro4560 | 0:3f87ec23c3cf | 4 | #include "robo_config.h" |
piroro4560 | 0:3f87ec23c3cf | 5 | #include "mbed.h" |
piroro4560 | 0:3f87ec23c3cf | 6 | #include "kohiMD.h" |
piroro4560 | 0:3f87ec23c3cf | 7 | #include "solenoid.h" |
piroro4560 | 0:3f87ec23c3cf | 8 | #include "esc.h" |
piroro4560 | 0:3f87ec23c3cf | 9 | #include "omni_wheel.h" |
piroro4560 | 0:3f87ec23c3cf | 10 | #include "PID.h" |
piroro4560 | 0:3f87ec23c3cf | 11 | |
piroro4560 | 0:3f87ec23c3cf | 12 | class Robot |
piroro4560 | 0:3f87ec23c3cf | 13 | { |
piroro4560 | 0:3f87ec23c3cf | 14 | public : |
piroro4560 | 0:3f87ec23c3cf | 15 | Robot(); |
piroro4560 | 0:3f87ec23c3cf | 16 | |
piroro4560 | 0:3f87ec23c3cf | 17 | void chaseBall(float ball_theta, float r); |
piroro4560 | 0:3f87ec23c3cf | 18 | |
piroro4560 | 0:3f87ec23c3cf | 19 | void sesarchBall(); |
piroro4560 | 0:3f87ec23c3cf | 20 | |
piroro4560 | 0:3f87ec23c3cf | 21 | void moveGoal(float r, float goal_); |
piroro4560 | 0:3f87ec23c3cf | 22 | |
piroro4560 | 0:3f87ec23c3cf | 23 | void detour(); |
piroro4560 | 0:3f87ec23c3cf | 24 | |
piroro4560 | 0:3f87ec23c3cf | 25 | void outLine(float r, ); |
piroro4560 | 0:3f87ec23c3cf | 26 | |
piroro4560 | 0:3f87ec23c3cf | 27 | void shotBall(); |
piroro4560 | 0:3f87ec23c3cf | 28 | |
piroro4560 | 0:3f87ec23c3cf | 29 | private : |
piroro4560 | 0:3f87ec23c3cf | 30 | kohiMD *motor[4]; |
piroro4560 | 0:3f87ec23c3cf | 31 | solenoid kick(); |
piroro4560 | 0:3f87ec23c3cf | 32 | esc drib(); |
piroro4560 | 0:3f87ec23c3cf | 33 | PID spin(); |
piroro4560 | 0:3f87ec23c3cf | 34 | omniwheel omni; |
piroro4560 | 0:3f87ec23c3cf | 35 | } |
piroro4560 | 0:3f87ec23c3cf | 36 | |
piroro4560 | 0:3f87ec23c3cf | 37 | #endif |