Quadrifoglio
main
Dependents: 00_yotsuba 200_yotsuba_21 200_yotuba_21_uiChange
Diff: robot.h
- Revision:
- 0:3f87ec23c3cf
- Child:
- 1:6a5065829cfc
diff -r 000000000000 -r 3f87ec23c3cf robot.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/robot.h Thu Jan 30 10:24:20 2020 +0000
@@ -0,0 +1,37 @@
+#ifndef ROBOT_H
+#define ROBOT_H
+
+#include "robo_config.h"
+#include "mbed.h"
+#include "kohiMD.h"
+#include "solenoid.h"
+#include "esc.h"
+#include "omni_wheel.h"
+#include "PID.h"
+
+class Robot
+{
+public :
+ Robot();
+
+ void chaseBall(float ball_theta, float r);
+
+ void sesarchBall();
+
+ void moveGoal(float r, float goal_);
+
+ void detour();
+
+ void outLine(float r, );
+
+ void shotBall();
+
+private :
+ kohiMD *motor[4];
+ solenoid kick();
+ esc drib();
+ PID spin();
+ omniwheel omni;
+}
+
+#endif
\ No newline at end of file