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Dependents: 00_yotsuba 200_yotsuba_21 200_yotuba_21_uiChange
robot.h@6:dee6041c3d15, 2020-02-01 (annotated)
- Committer:
- piroro4560
- Date:
- Sat Feb 01 15:12:19 2020 +0000
- Revision:
- 6:dee6041c3d15
- Parent:
- 5:f5e79163d0eb
add count camera signal
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 | 2:fc5545ddf69a | 5 | #include "pin_config.h" |
piroro4560 | 0:3f87ec23c3cf | 6 | #include "mbed.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 | 1:6a5065829cfc | 12 | #include "sensorGen.h" |
piroro4560 | 4:a4f94f186ba0 | 13 | #include "aqm0802.h" |
piroro4560 | 0:3f87ec23c3cf | 14 | |
piroro4560 | 0:3f87ec23c3cf | 15 | class Robot |
piroro4560 | 0:3f87ec23c3cf | 16 | { |
piroro4560 | 0:3f87ec23c3cf | 17 | public : |
piroro4560 | 0:3f87ec23c3cf | 18 | Robot(); |
piroro4560 | 0:3f87ec23c3cf | 19 | |
piroro4560 | 4:a4f94f186ba0 | 20 | void chaseBall(); |
piroro4560 | 0:3f87ec23c3cf | 21 | |
piroro4560 | 1:6a5065829cfc | 22 | void lostBall(); |
piroro4560 | 0:3f87ec23c3cf | 23 | |
piroro4560 | 4:a4f94f186ba0 | 24 | void start(); // 強い奴はここ |
piroro4560 | 1:6a5065829cfc | 25 | |
piroro4560 | 0:3f87ec23c3cf | 26 | private : |
piroro4560 | 4:a4f94f186ba0 | 27 | KohiMD *motor[4]; |
piroro4560 | 4:a4f94f186ba0 | 28 | Solenoid shot; |
piroro4560 | 4:a4f94f186ba0 | 29 | RCJESC drib; |
piroro4560 | 4:a4f94f186ba0 | 30 | PID spin; |
piroro4560 | 4:a4f94f186ba0 | 31 | OmniWheel omni; |
piroro4560 | 1:6a5065829cfc | 32 | Serial pc; |
piroro4560 | 4:a4f94f186ba0 | 33 | DigitalIn but; |
piroro4560 | 4:a4f94f186ba0 | 34 | sensor sensor; |
piroro4560 | 4:a4f94f186ba0 | 35 | |
piroro4560 | 4:a4f94f186ba0 | 36 | DigitalIn dip1; |
piroro4560 | 4:a4f94f186ba0 | 37 | DigitalIn dip2; |
piroro4560 | 4:a4f94f186ba0 | 38 | DigitalIn dip3; |
piroro4560 | 4:a4f94f186ba0 | 39 | DigitalIn b1; |
piroro4560 | 4:a4f94f186ba0 | 40 | DigitalIn b2; |
piroro4560 | 4:a4f94f186ba0 | 41 | aqm0802 lcd; |
piroro4560 | 4:a4f94f186ba0 | 42 | |
piroro4560 | 1:6a5065829cfc | 43 | |
piroro4560 | 1:6a5065829cfc | 44 | float theta; |
piroro4560 | 4:a4f94f186ba0 | 45 | float towardAngle; |
piroro4560 | 6:dee6041c3d15 | 46 | float omni1wheel, omni2wheel, omni3wheel, omni0wheel; |
piroro4560 | 6:dee6041c3d15 | 47 | float value[0]; |
piroro4560 | 4:a4f94f186ba0 | 48 | float spin_power; |
piroro4560 | 4:a4f94f186ba0 | 49 | bool startb=0; |
piroro4560 | 6:dee6041c3d15 | 50 | int backcount; |
piroro4560 | 6:dee6041c3d15 | 51 | int linecount[4]; |
piroro4560 | 6:dee6041c3d15 | 52 | float lineAngle; |
piroro4560 | 4:a4f94f186ba0 | 53 | }; |
piroro4560 | 0:3f87ec23c3cf | 54 | |
piroro4560 | 0:3f87ec23c3cf | 55 | #endif |