hirromu takaki / states

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Dependents:   kobayashi_rei 2019BSyudo Bsyudo 2019Bsyudo

states.h@7:9d5746931f80, 2019-09-13 (annotated)

Committer:
THtakahiro702286
Date:
Fri Sep 13 03:22:42 2019 +0000
Revision:
7:9d5746931f80
Parent:
5:3273db2411d8 
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 4:eafd5a0c3351 9 #include "mechanism.h"
THtakahiro702286 0:8d012d469eb4 10
THtakahiro702286 0:8d012d469eb4 11 #define front 0
THtakahiro702286 0:8d012d469eb4 12 #define right 90
THtakahiro702286 0:8d012d469eb4 13 #define back 180
THtakahiro702286 0:8d012d469eb4 14 #define left -90
THtakahiro702286 0:8d012d469eb4 15
THtakahiro702286 0:8d012d469eb4 16
THtakahiro702286 0:8d012d469eb4 17 class States
THtakahiro702286 0:8d012d469eb4 18 {
THtakahiro702286 0:8d012d469eb4 19 public:
THtakahiro702286 0:8d012d469eb4 20 States();
THtakahiro702286 0:8d012d469eb4 21 void tellAngle();
THtakahiro702286 0:8d012d469eb4 22 void tellPad();
THtakahiro702286 0:8d012d469eb4 23 void move();
THtakahiro702286 0:8d012d469eb4 24 private:
THtakahiro702286 7:9d5746931f80 25
THtakahiro702286 1:38dd7564c15f 26 /*非常停止*/
THtakahiro702286 1:38dd7564c15f 27 DigitalOut emStop;
THtakahiro702286 1:38dd7564c15f 28
THtakahiro702286 0:8d012d469eb4 29 /*モーター系*/
THtakahiro702286 7:9d5746931f80 30 // WheelUnit omni;
THtakahiro702286 0:8d012d469eb4 31 Serial serial;
THtakahiro702286 0:8d012d469eb4 32
THtakahiro702286 0:8d012d469eb4 33 /*角度制御*/
THtakahiro702286 0:8d012d469eb4 34 R1370 gyro;
THtakahiro702286 0:8d012d469eb4 35 PID anglePID;
THtakahiro702286 0:8d012d469eb4 36 float nowAngle;
THtakahiro702286 0:8d012d469eb4 37 int idealAngle;
THtakahiro702286 0:8d012d469eb4 38 float deviation;
THtakahiro702286 0:8d012d469eb4 39 float turnPower;
THtakahiro702286 0:8d012d469eb4 40 int state;
THtakahiro702286 4:eafd5a0c3351 41
THtakahiro702286 4:eafd5a0c3351 42 /*昇降 機構*/
THtakahiro702286 4:eafd5a0c3351 43 Mechanism mechanism;
THtakahiro702286 0:8d012d469eb4 44
THtakahiro702286 0:8d012d469eb4 45 /*コントローラ系*/
THtakahiro702286 4:eafd5a0c3351 46 PS3 pad;
THtakahiro702286 4:eafd5a0c3351 47 int stick[4],trigger[2];
THtakahiro702286 7:9d5746931f80 48
THtakahiro702286 4:eafd5a0c3351 49 int b[12],b2[12],b3[12];
THtakahiro702286 7:9d5746931f80 50 float norm[2];
THtakahiro702286 7:9d5746931f80 51 //sint check;
THtakahiro702286 4:eafd5a0c3351 52
THtakahiro702286 0:8d012d469eb4 53 };
THtakahiro702286 0:8d012d469eb4 54 #endif