手動bのほぼ全部
Dependents: kobayashi_rei 2019BSyudo Bsyudo 2019Bsyudo
states.h@8:8ff6db217a17, 2019-10-04 (annotated)
- Committer:
- THtakahiro702286
- Date:
- Fri Oct 04 08:15:43 2019 +0000
- Revision:
- 8:8ff6db217a17
- Parent:
- 6:3cb78320d4db
states;
Who changed what in which revision?
User | Revision | Line number | New 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 | 6:3cb78320d4db | 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 | 0:8d012d469eb4 | 30 | Serial serial; |
THtakahiro702286 | 0:8d012d469eb4 | 31 | |
THtakahiro702286 | 0:8d012d469eb4 | 32 | /*角度制御*/ |
THtakahiro702286 | 0:8d012d469eb4 | 33 | R1370 gyro; |
THtakahiro702286 | 0:8d012d469eb4 | 34 | PID anglePID; |
THtakahiro702286 | 0:8d012d469eb4 | 35 | float nowAngle; |
THtakahiro702286 | 0:8d012d469eb4 | 36 | int idealAngle; |
THtakahiro702286 | 0:8d012d469eb4 | 37 | float deviation; |
THtakahiro702286 | 0:8d012d469eb4 | 38 | float turnPower; |
THtakahiro702286 | 0:8d012d469eb4 | 39 | int state; |
THtakahiro702286 | 4:eafd5a0c3351 | 40 | |
THtakahiro702286 | 4:eafd5a0c3351 | 41 | /*昇降 機構*/ |
THtakahiro702286 | 4:eafd5a0c3351 | 42 | Mechanism mechanism; |
THtakahiro702286 | 0:8d012d469eb4 | 43 | |
THtakahiro702286 | 0:8d012d469eb4 | 44 | /*コントローラ系*/ |
THtakahiro702286 | 4:eafd5a0c3351 | 45 | PS3 pad; |
THtakahiro702286 | 4:eafd5a0c3351 | 46 | int stick[4],trigger[2]; |
THtakahiro702286 | 6:3cb78320d4db | 47 | |
THtakahiro702286 | 4:eafd5a0c3351 | 48 | int b[12],b2[12],b3[12]; |
THtakahiro702286 | 6:3cb78320d4db | 49 | float norm[2]; |
THtakahiro702286 | 0:8d012d469eb4 | 50 | }; |
THtakahiro702286 | 0:8d012d469eb4 | 51 | #endif |