Diff: states.h

Revision:

0:8d012d469eb4

Child:

1:38dd7564c15f

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/states.h	Mon Jul 08 08:45:10 2019 +0000
@@ -0,0 +1,55 @@
+#ifndef STATES_H
+#define STATES_H
+
+#include "mbed.h"
+#include "PID.h"
+#include "pin_config.h"
+#include "controller.h"
+#include "R1370.h"
+#include "wheelUnit.h"
+
+//#define PI 3.14159
+
+/*角度制御*/
+//#define angleKP 5.5  //速さ
+//#define angleKI 5.0  //揺れすぎたら大きく、動かな過ぎたら小さく
+//#define angleKD 0.0000005  //ずらしたときに戻る力　がでかすぎたら小さく、小さすぎたら大きく
+
+/*角度情報*/
+#define front 0
+#define right 90
+#define back 180
+#define left -90
+
+
+class States
+{
+public:
+    States();
+    void tellAngle();
+    void tellPad();
+    void move();
+private:
+    /*モーター系*/
+    WheelUnit omni;
+    Serial serial;
+
+    /*角度制御*/
+    R1370 gyro;
+    PID anglePID;
+    float norm;
+    float nowAngle;
+    int idealAngle;
+    float deviation;
+    float turnPower;
+    int state;
+
+    /*コントローラ系*/
+    Controller pad;
+    float stickRad;
+    float stickNorm;
+    float X;
+    float Y;
+    int b[11],b2[11],b3[11];
+};
+#endif