Diff: states.h

Revision:

4:eafd5a0c3351

Parent:

3:2b909340be04

Child:

5:3273db2411d8

Child:

6:3cb78320d4db

--- a/states.h	Thu Jul 11 09:19:10 2019 +0000
+++ b/states.h	Mon Sep 09 04:48:16 2019 +0000
@@ -4,18 +4,12 @@
 #include "mbed.h"
 #include "PID.h"
 #include "pin_config.h"
-#include "controller.h"
+#include "PS3.h"
 #include "R1370.h"
 #include "wheelUnit.h"
-
-//#define PI 3.14159
+#include "mechanism.h"
+#include "serialArduino.h"
 
-/*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
@@ -40,19 +34,23 @@
     /*角度制御*/
     R1370 gyro;
     PID anglePID;
-    float norm;
     float nowAngle;
     int idealAngle;
     float deviation;
     float turnPower;
     int state;
+    
+    /*昇降 機構*/
+    Mechanism mechanism;
 
     /*コントローラ系*/
-    Controller pad;
-    float stickRad;
-    float stickNorm;
-    float X;
-    float Y;
-    int b[13],b2[13],b3[13];
+    PS3 pad;
+    int stick[4],trigger[2];
+    int b[12],b2[12],b3[12];
+    float rad[2],norm[2];
+    int check;
+    
+    /*arduino*/
+    SerialArduino nano;
 };
 #endif