tarou yamada / OBROT

Dependents:   OBROT_ALL

OBROT.cpp@0:4877273ec8cc, 2015-10-14 (annotated)

Committer:
inst
Date:
Wed Oct 14 03:55:39 2015 +0000
Revision:
0:4877273ec8cc
Child:
1:a46109178200

        

        
Who changed what in which revision?

        

            
                
UserRevisionLine numberNew contents of line

            
            


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#include "mbed.h"





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#include "OBROT.h"





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#include "I2CMotor.h"





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#include "Steering.h"





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#include "XBee.h"





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#include "I2CServo.h"





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#include "Command.h"





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#include "ShootingSystem.h"





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#include "Shooter.h"





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#include "AmmoPusher.h"





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#include "AmmoSupplier.h"





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#include "Robot.h"





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OBROT* OBROT::mInstance = NULL;





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const char OBROT::mI2CDeviceAddress[] = {





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    // ステアリング駆動輪





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    0xA0 | ( 0x01 << 1 ),





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    0xA0 | ( 0x02 << 1 ),





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    0xA0 | ( 0x03 << 1 ),





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    // ステアリングサーボ





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    0xA0 | ( 0x04 << 1 ),





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    0xA0 | ( 0x05 << 1 ),





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    0xA0 | ( 0x06 << 1 ),





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    // XBee





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    0xA0 | ( 0x07 << 1 ),





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    // AngleManagerServo





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    0xA0 | ( 0x08 << 1 ),





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    // Shooter





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    0xA0 | ( 0x09 << 1 ),





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    // AmmoPusher





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    0xA0 | ( 0x0A << 1 ),





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    // AmmoSupplier





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    0xA0 | ( 0x0B << 1 ),





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    // PositionManager





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    0xA0 | ( 0x0D << 1 )





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};





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OBROT::OBROT(){





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    mI2CDevice = new I2CDevice*[ mNumOfI2CDevice ];





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    I2CDevice::createI2C();





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    I2CMotor** i2cMotor = new I2CMotor*[ Steering::mNumOfTire ];





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    I2CServo** i2cServo = new I2CServo*[ Steering::mNumOfTire ];





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    for ( int i = 0; i < Steering::mNumOfTire; ++i ){





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        mI2CDevice[ i ] = i2cMotor[ i ] = new I2CMotor( mI2CDeviceAddress[ i ] );





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        i2cServo[ i ] = new I2CServo( mI2CDeviceAddress[ i + Steering::mNumOfTire ] );





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        mI2CDevice[ i + Steering::mNumOfTire ] = i2cServo[ i ];





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    }





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    // XBee





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    mI2CDevice[ I2CDeviceID::XBEE ] = mXBee =  new XBee( mI2CDeviceAddress[ I2CDeviceID::XBEE ] );





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    // 砲塔の角度調整用サーボ





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    I2CServo* angleManagerServo = new I2CServo( mI2CDeviceAddress[ I2CDeviceID::ANGLE_MANAGER ] );





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    mI2CDevice[ I2CDeviceID::ANGLE_MANAGER ] = angleManagerServo;





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    // 輪押し出し機構





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    AmmoPusher* ammoPusher = new AmmoPusher( mI2CDeviceAddress[ I2CDeviceID::AMMO_PUSHER ] );





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    mI2CDevice[ I2CDeviceID::AMMO_PUSHER ] = ammoPusher;





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    // 輪補給機構





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    AmmoSupplier* ammoSupplier = new AmmoSupplier( mI2CDeviceAddress[ I2CDeviceID::AMMO_SUPPLIER ] );





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    mI2CDevice[ I2CDeviceID::AMMO_SUPPLIER ] = ammoSupplier;





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    // 発射機構





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    Shooter* shooter = new Shooter( mI2CDeviceAddress[ I2CDeviceID::SHOOTER ] );





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    mI2CDevice[ I2CDeviceID::SHOOTER ] = shooter;





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    // 上下機構





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    I2CServo* positionManager = new I2CServo( mI2CDeviceAddress[ I2CDeviceID::POSITION_MANAGER ] );





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    mI2CDevice[ I2CDeviceID::POSITION_MANAGER ] = positionManager;





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    mSteering       = new Steering( i2cMotor, i2cServo );





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    mShootingSystem = new ShootingSystem( angleManagerServo, ammoPusher,





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                                          ammoSupplier, shooter, positionManager );





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}





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OBROT::~OBROT(){





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    delete[] mI2CDevice;





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    delete mSteering;





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    delete mShootingSystem;





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}





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void OBROT::updateAction(){





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    Command command = mXBee->createCommand();





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    mShootingSystem->update( command );





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    mSteering->update( command );





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}