hirromu takaki / states

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Dependents:   kobayashi_rei 2019BSyudo Bsyudo 2019Bsyudo

states.h@5:3273db2411d8, 2019-09-10 (annotated)

Committer:
THtakahiro702286
Date:
Tue Sep 10 01:49:31 2019 +0000
Revision:
5:3273db2411d8
Parent:
4:eafd5a0c3351
Child:
7:9d5746931f80
states;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
THtakahiro702286 0:8d012d469eb4 1 #ifndef STATES_H
THtakahiro702286 0:8d012d469eb4 2 #define STATES_H
THtakahiro702286 0:8d012d469eb4 3
THtakahiro702286 0:8d012d469eb4 4 #include "mbed.h"
THtakahiro702286 0:8d012d469eb4 5 #include "PID.h"
THtakahiro702286 0:8d012d469eb4 6 #include "pin_config.h"
THtakahiro702286 4:eafd5a0c3351 7 #include "PS3.h"
THtakahiro702286 0:8d012d469eb4 8 #include "R1370.h"
THtakahiro702286 0:8d012d469eb4 9 #include "wheelUnit.h"
THtakahiro702286 4:eafd5a0c3351 10 #include "mechanism.h"
THtakahiro702286 4:eafd5a0c3351 11 #include "serialArduino.h"
THtakahiro702286 5:3273db2411d8 12 #include <math.h>
THtakahiro702286 0:8d012d469eb4 13
THtakahiro702286 0:8d012d469eb4 14 #define front 0
THtakahiro702286 0:8d012d469eb4 15 #define right 90
THtakahiro702286 0:8d012d469eb4 16 #define back 180
THtakahiro702286 0:8d012d469eb4 17 #define left -90
THtakahiro702286 0:8d012d469eb4 18
THtakahiro702286 0:8d012d469eb4 19
THtakahiro702286 0:8d012d469eb4 20 class States
THtakahiro702286 0:8d012d469eb4 21 {
THtakahiro702286 0:8d012d469eb4 22 public:
THtakahiro702286 0:8d012d469eb4 23 States();
THtakahiro702286 0:8d012d469eb4 24 void tellAngle();
THtakahiro702286 0:8d012d469eb4 25 void tellPad();
THtakahiro702286 0:8d012d469eb4 26 void move();
THtakahiro702286 0:8d012d469eb4 27 private:
THtakahiro702286 1:38dd7564c15f 28 /*非常停止*/
THtakahiro702286 1:38dd7564c15f 29 DigitalOut emStop;
THtakahiro702286 1:38dd7564c15f 30
THtakahiro702286 0:8d012d469eb4 31 /*モーター系*/
THtakahiro702286 0:8d012d469eb4 32 WheelUnit omni;
THtakahiro702286 0:8d012d469eb4 33 Serial serial;
THtakahiro702286 0:8d012d469eb4 34
THtakahiro702286 0:8d012d469eb4 35 /*角度制御*/
THtakahiro702286 0:8d012d469eb4 36 R1370 gyro;
THtakahiro702286 0:8d012d469eb4 37 PID anglePID;
THtakahiro702286 0:8d012d469eb4 38 float nowAngle;
THtakahiro702286 0:8d012d469eb4 39 int idealAngle;
THtakahiro702286 0:8d012d469eb4 40 float deviation;
THtakahiro702286 0:8d012d469eb4 41 float turnPower;
THtakahiro702286 0:8d012d469eb4 42 int state;
THtakahiro702286 4:eafd5a0c3351 43
THtakahiro702286 4:eafd5a0c3351 44 /*昇降 機構*/
THtakahiro702286 4:eafd5a0c3351 45 Mechanism mechanism;
THtakahiro702286 0:8d012d469eb4 46
THtakahiro702286 0:8d012d469eb4 47 /*コントローラ系*/
THtakahiro702286 4:eafd5a0c3351 48 PS3 pad;
THtakahiro702286 4:eafd5a0c3351 49 int stick[4],trigger[2];
THtakahiro702286 4:eafd5a0c3351 50 int b[12],b2[12],b3[12];
THtakahiro702286 4:eafd5a0c3351 51 float rad[2],norm[2];
THtakahiro702286 4:eafd5a0c3351 52 int check;
THtakahiro702286 4:eafd5a0c3351 53
THtakahiro702286 4:eafd5a0c3351 54 /*arduino*/
THtakahiro702286 4:eafd5a0c3351 55 SerialArduino nano;
THtakahiro702286 0:8d012d469eb4 56 };
THtakahiro702286 0:8d012d469eb4 57 #endif