Quadrifoglio / Robot

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Dependents:   00_yotsuba 200_yotsuba_21 200_yotuba_21_uiChange

Diff: robot.h

Revision:
12:19149697667d
Parent:
9:904dac75a729
Child:
13:d61a64c81c16
diff -r 39f44a1dc256 -r 19149697667d robot.h
--- a/robot.h	Fri Mar 05 00:00:17 2021 +0000
+++ b/robot.h	Fri Mar 05 05:02:32 2021 +0000
@@ -30,6 +30,10 @@
      */
     void start(uint8_t Team, uint8_t Algorithm);
     
+    /**PIDだけだよ
+     */
+    void pidtest();
+    
     /**モーターチェック
      */
     void motorCheck(int motorNumber, float power);
@@ -53,7 +57,7 @@
     OmniWheel      omni;
     
 private :
-    KohiMD         *motor[4];    
+    KohiMD         *motor[4];
     Solenoid       shot;
     RCJESC         drib;
     PID            spin;
@@ -64,7 +68,7 @@
     float   theta;
     float   towardAngle;
     float   omni2wheel,omni3wheel;
-    float   spin_power, motorSpeed;
+    float   spin_power, motorSpeed, thisSpeed[4];
     bool    startb=false;
     uint8_t i,_motorNumber;
 };