main
Dependents: 00_yotsuba 200_yotsuba_21 200_yotuba_21_uiChange
robot.h@1:6a5065829cfc, 2020-01-30 (annotated)
- Committer:
- piroro4560
- Date:
- Thu Jan 30 13:58:01 2020 +0000
- Revision:
- 1:6a5065829cfc
- Parent:
- 0:3f87ec23c3cf
- Child:
- 2:fc5545ddf69a
a
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 | 1:6a5065829cfc | 11 | #include "sensorGen.h" |
piroro4560 | 1:6a5065829cfc | 12 | #include "ui.h" |
piroro4560 | 0:3f87ec23c3cf | 13 | |
piroro4560 | 0:3f87ec23c3cf | 14 | class Robot |
piroro4560 | 1:6a5065829cfc | 15 | : ui |
piroro4560 | 0:3f87ec23c3cf | 16 | { |
piroro4560 | 0:3f87ec23c3cf | 17 | public : |
piroro4560 | 0:3f87ec23c3cf | 18 | Robot(); |
piroro4560 | 0:3f87ec23c3cf | 19 | |
piroro4560 | 0:3f87ec23c3cf | 20 | void chaseBall(float ball_theta, float r); |
piroro4560 | 0:3f87ec23c3cf | 21 | |
piroro4560 | 1:6a5065829cfc | 22 | void lostBall(); |
piroro4560 | 0:3f87ec23c3cf | 23 | |
piroro4560 | 0:3f87ec23c3cf | 24 | void moveGoal(float r, float goal_); |
piroro4560 | 0:3f87ec23c3cf | 25 | |
piroro4560 | 0:3f87ec23c3cf | 26 | void detour(); |
piroro4560 | 0:3f87ec23c3cf | 27 | |
piroro4560 | 0:3f87ec23c3cf | 28 | void outLine(float r, ); |
piroro4560 | 0:3f87ec23c3cf | 29 | |
piroro4560 | 0:3f87ec23c3cf | 30 | void shotBall(); |
piroro4560 | 0:3f87ec23c3cf | 31 | |
piroro4560 | 1:6a5065829cfc | 32 | void test(sensor.angleLimit); |
piroro4560 | 1:6a5065829cfc | 33 | |
piroro4560 | 0:3f87ec23c3cf | 34 | private : |
piroro4560 | 0:3f87ec23c3cf | 35 | kohiMD *motor[4]; |
piroro4560 | 1:6a5065829cfc | 36 | solenoid shot; |
piroro4560 | 0:3f87ec23c3cf | 37 | esc drib(); |
piroro4560 | 0:3f87ec23c3cf | 38 | PID spin(); |
piroro4560 | 0:3f87ec23c3cf | 39 | omniwheel omni; |
piroro4560 | 1:6a5065829cfc | 40 | Serial pc; |
piroro4560 | 1:6a5065829cfc | 41 | |
piroro4560 | 1:6a5065829cfc | 42 | float theta; |
piroro4560 | 0:3f87ec23c3cf | 43 | } |
piroro4560 | 0:3f87ec23c3cf | 44 | |
piroro4560 | 0:3f87ec23c3cf | 45 | #endif |