手動bのほぼ全部
Dependents: kobayashi_rei 2019BSyudo Bsyudo 2019Bsyudo
states.h
- Committer:
- THtakahiro702286
- Date:
- 2019-09-13
- Revision:
- 6:3cb78320d4db
- Parent:
- 4:eafd5a0c3351
- Child:
- 8:8ff6db217a17
File content as of revision 6:3cb78320d4db:
#ifndef STATES_H #define STATES_H #include "mbed.h" #include "PID.h" #include "pin_config.h" #include "PS3.h" #include "R1370.h" #include "mechanism.h" //#include <math.h> #define front 0 #define right 90 #define back 180 #define left -90 class States { public: States(); void tellAngle(); void tellPad(); void move(); private: /*非常停止*/ DigitalOut emStop; /*モーター系*/ // WheelUnit omni; Serial serial; /*角度制御*/ R1370 gyro; PID anglePID; float nowAngle; int idealAngle; float deviation; float turnPower; int state; /*昇降 機構*/ Mechanism mechanism; /*コントローラ系*/ PS3 pad; int stick[4],trigger[2]; int b[12],b2[12],b3[12]; float norm[2]; //sint check; }; #endif