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Dependents: 00_yotsuba 200_yotsuba_21 200_yotuba_21_uiChange
robot.h@13:d61a64c81c16, 2021-03-05 (annotated)
- Committer:
- THtakahiro702286
- Date:
- Fri Mar 05 06:30:37 2021 +0000
- Revision:
- 13:d61a64c81c16
- Parent:
- 12:19149697667d
- Child:
- 15:da88e62863a1
mawarikometa
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 | 9:904dac75a729 | 4 | #include "main.h" |
piroro4560 | 9:904dac75a729 | 5 | #include "sensorGen.h" |
piroro4560 | 0:3f87ec23c3cf | 6 | #include "robo_config.h" |
piroro4560 | 0:3f87ec23c3cf | 7 | #include "kohiMD.h" |
piroro4560 | 0:3f87ec23c3cf | 8 | #include "solenoid.h" |
piroro4560 | 0:3f87ec23c3cf | 9 | #include "esc.h" |
piroro4560 | 0:3f87ec23c3cf | 10 | #include "omni_wheel.h" |
piroro4560 | 0:3f87ec23c3cf | 11 | #include "PID.h" |
piroro4560 | 0:3f87ec23c3cf | 12 | |
piroro4560 | 0:3f87ec23c3cf | 13 | class Robot |
piroro4560 | 0:3f87ec23c3cf | 14 | { |
piroro4560 | 0:3f87ec23c3cf | 15 | public : |
piroro4560 | 9:904dac75a729 | 16 | /**コンストラクタ |
piroro4560 | 9:904dac75a729 | 17 | * ピン設定 |
piroro4560 | 9:904dac75a729 | 18 | */ |
piroro4560 | 0:3f87ec23c3cf | 19 | Robot(); |
piroro4560 | 0:3f87ec23c3cf | 20 | |
piroro4560 | 9:904dac75a729 | 21 | /**ボールが見えてる時用だよ |
piroro4560 | 9:904dac75a729 | 22 | */ |
piroro4560 | 4:a4f94f186ba0 | 23 | void chaseBall(); |
piroro4560 | 0:3f87ec23c3cf | 24 | |
piroro4560 | 9:904dac75a729 | 25 | /**ボールを見失ってる時だよ |
piroro4560 | 9:904dac75a729 | 26 | */ |
piroro4560 | 1:6a5065829cfc | 27 | void lostBall(); |
piroro4560 | 0:3f87ec23c3cf | 28 | |
piroro4560 | 9:904dac75a729 | 29 | /**強いよ |
piroro4560 | 9:904dac75a729 | 30 | */ |
piroro4560 | 9:904dac75a729 | 31 | void start(uint8_t Team, uint8_t Algorithm); |
piroro4560 | 1:6a5065829cfc | 32 | |
piroro4560 | 12:19149697667d | 33 | /**PIDだけだよ |
piroro4560 | 12:19149697667d | 34 | */ |
piroro4560 | 12:19149697667d | 35 | void pidtest(); |
piroro4560 | 12:19149697667d | 36 | |
piroro4560 | 9:904dac75a729 | 37 | /**モーターチェック |
piroro4560 | 9:904dac75a729 | 38 | */ |
THtakahiro702286 | 8:713bbc1fb58f | 39 | void motorCheck(int motorNumber, float power); |
THtakahiro702286 | 8:713bbc1fb58f | 40 | |
piroro4560 | 9:904dac75a729 | 41 | /**モーター以外のチェックをしてる時にモーターを止める関数だよ |
piroro4560 | 9:904dac75a729 | 42 | */ |
piroro4560 | 9:904dac75a729 | 43 | void motorStop(double pwm); |
THtakahiro702286 | 8:713bbc1fb58f | 44 | |
piroro4560 | 9:904dac75a729 | 45 | /**キッカーチェックだよ |
piroro4560 | 9:904dac75a729 | 46 | */ |
THtakahiro702286 | 8:713bbc1fb58f | 47 | void kickCheck(); |
THtakahiro702286 | 8:713bbc1fb58f | 48 | |
piroro4560 | 9:904dac75a729 | 49 | /**ドリブラーチェックだよ |
piroro4560 | 9:904dac75a729 | 50 | */ |
THtakahiro702286 | 8:713bbc1fb58f | 51 | void dribbleCheck(float power); |
piroro4560 | 9:904dac75a729 | 52 | |
THtakahiro702286 | 13:d61a64c81c16 | 53 | /**回り込みだよ |
THtakahiro702286 | 13:d61a64c81c16 | 54 | */ |
THtakahiro702286 | 13:d61a64c81c16 | 55 | void moveTest(); |
THtakahiro702286 | 13:d61a64c81c16 | 56 | |
piroro4560 | 9:904dac75a729 | 57 | /**jyリセットだよ |
piroro4560 | 9:904dac75a729 | 58 | */ |
piroro4560 | 9:904dac75a729 | 59 | |
piroro4560 | 9:904dac75a729 | 60 | sensorgen sensor_; |
piroro4560 | 9:904dac75a729 | 61 | OmniWheel omni; |
piroro4560 | 4:a4f94f186ba0 | 62 | |
piroro4560 | 9:904dac75a729 | 63 | private : |
piroro4560 | 12:19149697667d | 64 | KohiMD *motor[4]; |
piroro4560 | 9:904dac75a729 | 65 | Solenoid shot; |
piroro4560 | 9:904dac75a729 | 66 | RCJESC drib; |
piroro4560 | 9:904dac75a729 | 67 | PID spin; |
piroro4560 | 9:904dac75a729 | 68 | BufferedSerial pc; |
piroro4560 | 9:904dac75a729 | 69 | Timer tim; |
piroro4560 | 9:904dac75a729 | 70 | Timer lineOut; |
piroro4560 | 9:904dac75a729 | 71 | |
piroro4560 | 9:904dac75a729 | 72 | float theta; |
piroro4560 | 9:904dac75a729 | 73 | float towardAngle; |
piroro4560 | 9:904dac75a729 | 74 | float omni2wheel,omni3wheel; |
piroro4560 | 12:19149697667d | 75 | float spin_power, motorSpeed, thisSpeed[4]; |
piroro4560 | 9:904dac75a729 | 76 | bool startb=false; |
piroro4560 | 9:904dac75a729 | 77 | uint8_t i,_motorNumber; |
piroro4560 | 4:a4f94f186ba0 | 78 | }; |
piroro4560 | 0:3f87ec23c3cf | 79 | |
piroro4560 | 0:3f87ec23c3cf | 80 | #endif |