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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*[ getNumOfI2CDevices() ];
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I2CDevice::createI2C();
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initXBee();
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I2CMotor** i2cMotor = initSteeringTire();
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I2CServo** i2cServo = initSteeringServo();
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I2CServo* angleManagerServo = initAngleManager();
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AmmoPusher* ammoPusher = initAmmoPusher();
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AmmoSupplier* ammoSupplier = initAmmoSupplier();
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Shooter* shooter = initShooter();
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I2CServo* positionManager = initPositionManager();
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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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}
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I2CServo** OBROT::initSteeringServo(){
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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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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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return i2cServo;
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}
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I2CMotor** OBROT::initSteeringTire(){
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I2CMotor** i2cMotor = new I2CMotor*[ 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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}
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return i2cMotor;
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}
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XBee* OBROT::initXBee(){
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mI2CDevice[ I2CDeviceID::XBEE ] = mXBee = new XBee( mI2CDeviceAddress[ I2CDeviceID::XBEE ] );
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return mXBee;
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}
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I2CServo* OBROT::initAngleManager(){
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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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return angleManagerServo;
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}
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AmmoPusher* OBROT::initAmmoPusher(){
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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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return ammoPusher;
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}
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AmmoSupplier* OBROT::initAmmoSupplier(){
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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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return ammoSupplier;
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}
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Shooter* OBROT::initShooter(){
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Shooter* shooter = new Shooter( mI2CDeviceAddress[ I2CDeviceID::SHOOTER ] );
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mI2CDevice[ I2CDeviceID::SHOOTER ] = shooter;
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return shooter;
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}
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I2CServo* OBROT::initPositionManager(){
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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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return positionManager;
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}
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tarou yamada