tarou yamada
Dependencies: AmmoPusher AmmoSupplier Shooter
ShootingSystem.cpp@1:3b0b583eba77, 2015-10-14 (annotated)
- Committer:
- inst
- Date:
- Wed Oct 14 03:52:45 2015 +0000
- Revision:
- 1:3b0b583eba77
- Parent:
- 0:987c53b6a212
- Child:
- 3:bf4ae302724c
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| inst | 1:3b0b583eba77 | 1 | #include "mbed.h" |
| inst | 0:987c53b6a212 | 2 | #include "ShootingSystem.h" |
| inst | 0:987c53b6a212 | 3 | #include "Command.h" |
| inst | 0:987c53b6a212 | 4 | #include "I2CServo.h" |
| inst | 0:987c53b6a212 | 5 | #include "Shooter.h" |
| inst | 1:3b0b583eba77 | 6 | #include "AmmoPusher.h" |
| inst | 1:3b0b583eba77 | 7 | #include "AmmoSupplier.h" |
| inst | 1:3b0b583eba77 | 8 | |
| inst | 1:3b0b583eba77 | 9 | bool ShootingSystem::mIsShootable = false; |
| inst | 0:987c53b6a212 | 10 | |
| inst | 0:987c53b6a212 | 11 | ShootingSystem::ShootingSystem( |
| inst | 1:3b0b583eba77 | 12 | I2CServo* angleManagerServo, AmmoPusher* ammoPusher, |
| inst | 1:3b0b583eba77 | 13 | AmmoSupplier* ammoSupplier, Shooter* shooter, |
| inst | 1:3b0b583eba77 | 14 | I2CServo* positionManager ){ |
| inst | 0:987c53b6a212 | 15 | |
| inst | 1:3b0b583eba77 | 16 | mShooterAngleServo = angleManagerServo; |
| inst | 1:3b0b583eba77 | 17 | mShooter = shooter; |
| inst | 1:3b0b583eba77 | 18 | mAmmoPusher = ammoPusher; |
| inst | 1:3b0b583eba77 | 19 | mAmmoSupplier = ammoSupplier; |
| inst | 1:3b0b583eba77 | 20 | mPositionManager = positionManager; |
| inst | 1:3b0b583eba77 | 21 | mState = SHOOT_PREPARATION; |
| inst | 0:987c53b6a212 | 22 | } |
| inst | 0:987c53b6a212 | 23 | |
| inst | 0:987c53b6a212 | 24 | void ShootingSystem::update( Command command ){ |
| inst | 1:3b0b583eba77 | 25 | bool isChangeable = ( mState != SHOOTING ); |
| inst | 1:3b0b583eba77 | 26 | isChangeable &= ( mState != SHOOT_PREPARATION ); |
| inst | 1:3b0b583eba77 | 27 | |
| inst | 1:3b0b583eba77 | 28 | if ( isChangeable ){ |
| inst | 1:3b0b583eba77 | 29 | // 発射中でないなら角度と電圧が変更可能 |
| inst | 1:3b0b583eba77 | 30 | mShooterAngleServo->setTargetPosition( command.getShootingAngleAnalog() ); |
| inst | 1:3b0b583eba77 | 31 | mPositionManager->setTargetPosition( command.getShooterPosition() ); |
| inst | 1:3b0b583eba77 | 32 | mShooter->setVoltage( command.getShootVoltage() ); |
| inst | 0:987c53b6a212 | 33 | } |
| inst | 0:987c53b6a212 | 34 | |
| inst | 1:3b0b583eba77 | 35 | mIsShootable = ( mState == WAITING ); |
| inst | 1:3b0b583eba77 | 36 | |
| inst | 1:3b0b583eba77 | 37 | switch ( mState ){ |
| inst | 1:3b0b583eba77 | 38 | case WAITING: |
| inst | 1:3b0b583eba77 | 39 | waiting( command ); |
| inst | 1:3b0b583eba77 | 40 | break; |
| inst | 1:3b0b583eba77 | 41 | |
| inst | 1:3b0b583eba77 | 42 | case SHOOTING: |
| inst | 1:3b0b583eba77 | 43 | shooting(); |
| inst | 1:3b0b583eba77 | 44 | break; |
| inst | 1:3b0b583eba77 | 45 | |
| inst | 1:3b0b583eba77 | 46 | case SHOOT_WAITING: |
| inst | 1:3b0b583eba77 | 47 | shootWaiting(); |
| inst | 1:3b0b583eba77 | 48 | break; |
| inst | 1:3b0b583eba77 | 49 | |
| inst | 1:3b0b583eba77 | 50 | case SHOOT_PREPARATION: |
| inst | 1:3b0b583eba77 | 51 | shootPreparation(); |
| inst | 1:3b0b583eba77 | 52 | break; |
| inst | 1:3b0b583eba77 | 53 | |
| inst | 1:3b0b583eba77 | 54 | case AMMO_SUPPLYING: |
| inst | 1:3b0b583eba77 | 55 | ammoSupply(); |
| inst | 1:3b0b583eba77 | 56 | break; |
| inst | 1:3b0b583eba77 | 57 | |
| inst | 1:3b0b583eba77 | 58 | default: |
| inst | 1:3b0b583eba77 | 59 | break; |
| inst | 1:3b0b583eba77 | 60 | } |
| inst | 0:987c53b6a212 | 61 | } |
| inst | 0:987c53b6a212 | 62 | |
| inst | 1:3b0b583eba77 | 63 | void ShootingSystem::waiting( Command command ){ |
| inst | 1:3b0b583eba77 | 64 | if ( command.isSupplying() ){ |
| inst | 1:3b0b583eba77 | 65 | mAmmoSupplier->supply(); |
| inst | 1:3b0b583eba77 | 66 | mState = AMMO_SUPPLYING; |
| inst | 1:3b0b583eba77 | 67 | } else if ( command.isShooting() ){ |
| inst | 1:3b0b583eba77 | 68 | mState = SHOOTING; |
| inst | 1:3b0b583eba77 | 69 | } |
| inst | 1:3b0b583eba77 | 70 | } |
| inst | 1:3b0b583eba77 | 71 | |
| inst | 1:3b0b583eba77 | 72 | void ShootingSystem::shooting(){ |
| inst | 1:3b0b583eba77 | 73 | mShooter->launch(); |
| inst | 1:3b0b583eba77 | 74 | mAmmoPusher->push(); |
| inst | 1:3b0b583eba77 | 75 | |
| inst | 1:3b0b583eba77 | 76 | if ( mAmmoPusher->hasPushed() ){ |
| inst | 1:3b0b583eba77 | 77 | mState = SHOOT_WAITING; |
| inst | 1:3b0b583eba77 | 78 | mTimer.reset(); |
| inst | 1:3b0b583eba77 | 79 | mTimer.start(); |
| inst | 1:3b0b583eba77 | 80 | } |
| inst | 1:3b0b583eba77 | 81 | } |
| inst | 1:3b0b583eba77 | 82 | |
| inst | 1:3b0b583eba77 | 83 | void ShootingSystem::shootWaiting(){ |
| inst | 0:987c53b6a212 | 84 | mAmmoPusher->draw(); |
| inst | 0:987c53b6a212 | 85 | |
| inst | 1:3b0b583eba77 | 86 | if ( mTimer.read() > 0.7f ){ |
| inst | 1:3b0b583eba77 | 87 | mShooter->stop(); |
| inst | 1:3b0b583eba77 | 88 | mState = SHOOT_PREPARATION; |
| inst | 0:987c53b6a212 | 89 | } |
| inst | 0:987c53b6a212 | 90 | } |
| inst | 1:3b0b583eba77 | 91 | |
| inst | 1:3b0b583eba77 | 92 | void ShootingSystem::shootPreparation(){ |
| inst | 1:3b0b583eba77 | 93 | if ( mAmmoPusher->hasDrawn() ){ |
| inst | 1:3b0b583eba77 | 94 | mState = WAITING; |
| inst | 1:3b0b583eba77 | 95 | } |
| inst | 1:3b0b583eba77 | 96 | } |
| inst | 1:3b0b583eba77 | 97 | |
| inst | 1:3b0b583eba77 | 98 | void ShootingSystem::ammoSupply(){ |
| inst | 1:3b0b583eba77 | 99 | if ( mAmmoSupplier->hasSupplied() ){ |
| inst | 1:3b0b583eba77 | 100 | mState = WAITING; |
| inst | 1:3b0b583eba77 | 101 | } |
| inst | 1:3b0b583eba77 | 102 | } |