Quadrifoglio / Robot

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Dependents:   00_yotsuba 200_yotsuba_21 200_yotuba_21_uiChange

robot.h@2:fc5545ddf69a, 2020-01-30 (annotated)

Committer:
piroro4560
Date:
Thu Jan 30 15:48:44 2020 +0000
Revision:
2:fc5545ddf69a
Parent:
1:6a5065829cfc
Child:
4:a4f94f186ba0
a

Who changed what in which revision?

UserRevisionLine numberNew 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 1:6a5065829cfc 13 #include "ui.h"
piroro4560 0:3f87ec23c3cf 14
piroro4560 0:3f87ec23c3cf 15 class Robot
piroro4560 1:6a5065829cfc 16 : ui
piroro4560 0:3f87ec23c3cf 17 {
piroro4560 0:3f87ec23c3cf 18 public :
piroro4560 0:3f87ec23c3cf 19 Robot();
piroro4560 0:3f87ec23c3cf 20
piroro4560 0:3f87ec23c3cf 21 void chaseBall(float ball_theta, float r);
piroro4560 0:3f87ec23c3cf 22
piroro4560 1:6a5065829cfc 23 void lostBall();
piroro4560 0:3f87ec23c3cf 24
piroro4560 0:3f87ec23c3cf 25 void moveGoal(float r, float goal_);
piroro4560 0:3f87ec23c3cf 26
piroro4560 0:3f87ec23c3cf 27 void detour();
piroro4560 0:3f87ec23c3cf 28
piroro4560 0:3f87ec23c3cf 29 void outLine(float r, );
piroro4560 0:3f87ec23c3cf 30
piroro4560 0:3f87ec23c3cf 31 void shotBall();
piroro4560 0:3f87ec23c3cf 32
piroro4560 1:6a5065829cfc 33 void test(sensor.angleLimit);
piroro4560 1:6a5065829cfc 34
piroro4560 0:3f87ec23c3cf 35 private :
piroro4560 0:3f87ec23c3cf 36 kohiMD *motor[4];
piroro4560 1:6a5065829cfc 37 solenoid shot;
piroro4560 0:3f87ec23c3cf 38 esc drib();
piroro4560 0:3f87ec23c3cf 39 PID spin();
piroro4560 0:3f87ec23c3cf 40 omniwheel omni;
piroro4560 1:6a5065829cfc 41 Serial pc;
piroro4560 2:fc5545ddf69a 42 Timer time;
piroro4560 1:6a5065829cfc 43
piroro4560 1:6a5065829cfc 44 float theta;
piroro4560 2:fc5545ddf69a 45 float toward
piroro4560 0:3f87ec23c3cf 46 }
piroro4560 0:3f87ec23c3cf 47
piroro4560 0:3f87ec23c3cf 48 #endif