hirromu takaki / states

手動bのほぼ全部

Dependents:   kobayashi_rei 2019BSyudo Bsyudo 2019Bsyudo

states.h@4:eafd5a0c3351, 2019-09-09 (annotated)

Committer:
THtakahiro702286
Date:
Mon Sep 09 04:48:16 2019 +0000
Revision:
4:eafd5a0c3351
Parent:
3:2b909340be04
Child:
5:3273db2411d8
Child:
6:3cb78320d4db
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 0:8d012d469eb4 12
THtakahiro702286 0:8d012d469eb4 13 #define front 0
THtakahiro702286 0:8d012d469eb4 14 #define right 90
THtakahiro702286 0:8d012d469eb4 15 #define back 180
THtakahiro702286 0:8d012d469eb4 16 #define left -90
THtakahiro702286 0:8d012d469eb4 17
THtakahiro702286 0:8d012d469eb4 18
THtakahiro702286 0:8d012d469eb4 19 class States
THtakahiro702286 0:8d012d469eb4 20 {
THtakahiro702286 0:8d012d469eb4 21 public:
THtakahiro702286 0:8d012d469eb4 22 States();
THtakahiro702286 0:8d012d469eb4 23 void tellAngle();
THtakahiro702286 0:8d012d469eb4 24 void tellPad();
THtakahiro702286 0:8d012d469eb4 25 void move();
THtakahiro702286 0:8d012d469eb4 26 private:
THtakahiro702286 1:38dd7564c15f 27 /*非常停止*/
THtakahiro702286 1:38dd7564c15f 28 DigitalOut emStop;
THtakahiro702286 1:38dd7564c15f 29
THtakahiro702286 0:8d012d469eb4 30 /*モーター系*/
THtakahiro702286 0:8d012d469eb4 31 WheelUnit omni;
THtakahiro702286 0:8d012d469eb4 32 Serial serial;
THtakahiro702286 0:8d012d469eb4 33
THtakahiro702286 0:8d012d469eb4 34 /*角度制御*/
THtakahiro702286 0:8d012d469eb4 35 R1370 gyro;
THtakahiro702286 0:8d012d469eb4 36 PID anglePID;
THtakahiro702286 0:8d012d469eb4 37 float nowAngle;
THtakahiro702286 0:8d012d469eb4 38 int idealAngle;
THtakahiro702286 0:8d012d469eb4 39 float deviation;
THtakahiro702286 0:8d012d469eb4 40 float turnPower;
THtakahiro702286 0:8d012d469eb4 41 int state;
THtakahiro702286 4:eafd5a0c3351 42
THtakahiro702286 4:eafd5a0c3351 43 /*昇降 機構*/
THtakahiro702286 4:eafd5a0c3351 44 Mechanism mechanism;
THtakahiro702286 0:8d012d469eb4 45
THtakahiro702286 0:8d012d469eb4 46 /*コントローラ系*/
THtakahiro702286 4:eafd5a0c3351 47 PS3 pad;
THtakahiro702286 4:eafd5a0c3351 48 int stick[4],trigger[2];
THtakahiro702286 4:eafd5a0c3351 49 int b[12],b2[12],b3[12];
THtakahiro702286 4:eafd5a0c3351 50 float rad[2],norm[2];
THtakahiro702286 4:eafd5a0c3351 51 int check;
THtakahiro702286 4:eafd5a0c3351 52
THtakahiro702286 4:eafd5a0c3351 53 /*arduino*/
THtakahiro702286 4:eafd5a0c3351 54 SerialArduino nano;
THtakahiro702286 0:8d012d469eb4 55 };
THtakahiro702286 0:8d012d469eb4 56 #endif