Diff: OBROT.cpp

Revision:

1:a46109178200

Parent:

0:4877273ec8cc

Child:

2:cefcd4cb1777

--- a/OBROT.cpp	Wed Oct 14 03:55:39 2015 +0000
+++ b/OBROT.cpp	Thu Oct 15 03:56:01 2015 +0000
@@ -41,39 +41,16 @@
     
     I2CDevice::createI2C();
     
-    I2CMotor** i2cMotor = new I2CMotor*[ Steering::mNumOfTire ];
-    I2CServo** i2cServo = new I2CServo*[ Steering::mNumOfTire ];
+    initXBee();
     
-    for ( int i = 0; i < Steering::mNumOfTire; ++i ){
-        mI2CDevice[ i ] = i2cMotor[ i ] = new I2CMotor( mI2CDeviceAddress[ i ] );
-        
-        i2cServo[ i ] = new I2CServo( mI2CDeviceAddress[ i + Steering::mNumOfTire ] );
-        mI2CDevice[ i + Steering::mNumOfTire ] = i2cServo[ i ];
-    }
-    
-    // XBee
-    mI2CDevice[ I2CDeviceID::XBEE ] = mXBee =  new XBee( mI2CDeviceAddress[ I2CDeviceID::XBEE ] );
-    
-    // 砲塔の角度調整用サーボ
-    I2CServo* angleManagerServo = new I2CServo( mI2CDeviceAddress[ I2CDeviceID::ANGLE_MANAGER ] );
-    mI2CDevice[ I2CDeviceID::ANGLE_MANAGER ] = angleManagerServo;
+    I2CMotor** i2cMotor = initSteeringTire();
+    I2CServo** i2cServo = initSteeringServo();
     
-    // 輪押し出し機構
-    AmmoPusher* ammoPusher = new AmmoPusher( mI2CDeviceAddress[ I2CDeviceID::AMMO_PUSHER ] );
-    mI2CDevice[ I2CDeviceID::AMMO_PUSHER ] = ammoPusher;
-    
-    // 輪補給機構
-    AmmoSupplier* ammoSupplier = new AmmoSupplier( mI2CDeviceAddress[ I2CDeviceID::AMMO_SUPPLIER ] );
-    
-    mI2CDevice[ I2CDeviceID::AMMO_SUPPLIER ] = ammoSupplier;
-    
-    // 発射機構
-    Shooter* shooter = new Shooter( mI2CDeviceAddress[ I2CDeviceID::SHOOTER ] );
-    mI2CDevice[ I2CDeviceID::SHOOTER ] = shooter;
-    
-    // 上下機構
-    I2CServo* positionManager = new I2CServo( mI2CDeviceAddress[ I2CDeviceID::POSITION_MANAGER ] );
-    mI2CDevice[ I2CDeviceID::POSITION_MANAGER ] = positionManager;
+    I2CServo*       angleManagerServo   = initAngleManagerServo();
+    AmmoPusher*     ammoPusher          = initAmmoPusher();;
+    AmmoSupplier*   ammoSupplier        = initAmmoSupplier();
+    Shooter*        shooter             = initShooter();
+    I2CServo*       positionManager     = initPositionManager();
     
     mSteering       = new Steering( i2cMotor, i2cServo );
     mShootingSystem = new ShootingSystem( angleManagerServo, ammoPusher,
@@ -92,3 +69,59 @@
     mShootingSystem->update( command );
     mSteering->update( command );
 }
+
+I2CServo** OBROT::initSteeringServo(){
+    I2CServo** i2cServo = new I2CServo*[ Steering::mNumOfTire ];
+    
+    for ( int i = 0; i < Steering::mNumOfTire; ++i ){
+        i2cServo[ i ] = new I2CServo( mI2CDeviceAddress[ i + Steering::mNumOfTire ] );
+        mI2CDevice[ i + Steering::mNumOfTire ] = i2cServo[ i ];
+    }
+    
+    return i2cServo;
+}
+
+I2CMotor** OBROT::initSteeringTire(){
+    I2CMotor** i2cMotor = new I2CMotor*[ Steering::mNumOfTire ];
+    
+    for ( int i = 0; i < Steering::mNumOfTire; ++i ){
+        mI2CDevice[ i ] = i2cMotor[ i ] = new I2CMotor( mI2CDeviceAddress[ i ] );
+    }
+    
+    return i2cMotor;
+}
+
+XBee* OBROT::initXBee(){
+    mI2CDevice[ I2CDeviceID::XBEE ] = mXBee =  new XBee( mI2CDeviceAddress[ I2CDeviceID::XBEE ] );
+    return mXBee;
+}
+
+I2CServo* OBROT::initAngleManager(){
+    I2CServo* angleManagerServo = new I2CServo( mI2CDeviceAddress[ I2CDeviceID::ANGLE_MANAGER ] );
+    mI2CDevice[ I2CDeviceID::ANGLE_MANAGER ] = angleManagerServo;
+    return angleManagerServo;
+}
+
+AmmoPusher* OBROT::initAmmoPusher(){
+    AmmoPusher* ammoPusher = new AmmoPusher( mI2CDeviceAddress[ I2CDeviceID::AMMO_PUSHER ] );
+    mI2CDevice[ I2CDeviceID::AMMO_PUSHER ] = ammoPusher;
+    return ammoPusher;
+}
+
+AmmoSupplier* OBROT::initAmmoSupplier(){
+    AmmoSupplier* ammoSupplier = new AmmoSupplier( mI2CDeviceAddress[ I2CDeviceID::AMMO_SUPPLIER ] );
+    mI2CDevice[ I2CDeviceID::AMMO_SUPPLIER ] = ammoSupplier;
+    return ammoSupplier;
+}
+
+Shooter* OBROT::initShooter(){
+    Shooter* shooter = new Shooter( mI2CDeviceAddress[ I2CDeviceID::SHOOTER ] );
+    mI2CDevice[ I2CDeviceID::SHOOTER ] = shooter;
+    return shooter;
+}
+
+I2CServo* OBROT::initPositionManager(){
+    I2CServo* positionManager = new I2CServo( mI2CDeviceAddress[ I2CDeviceID::POSITION_MANAGER ] );
+    mI2CDevice[ I2CDeviceID::POSITION_MANAGER ] = positionManager;
+    return positionManager;
+}