手動bのほぼ全部
Dependents: kobayashi_rei 2019BSyudo Bsyudo 2019Bsyudo
Diff: states.h
- Revision:
- 4:eafd5a0c3351
- Parent:
- 3:2b909340be04
- Child:
- 5:3273db2411d8
- Child:
- 6:3cb78320d4db
diff -r 2b909340be04 -r eafd5a0c3351 states.h --- 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