nekodesu
Diff: states.h
- Revision:
- 0:8d012d469eb4
- Child:
- 1:38dd7564c15f
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/states.h Mon Jul 08 08:45:10 2019 +0000 @@ -0,0 +1,55 @@ +#ifndef STATES_H +#define STATES_H + +#include "mbed.h" +#include "PID.h" +#include "pin_config.h" +#include "controller.h" +#include "R1370.h" +#include "wheelUnit.h" + +//#define PI 3.14159 + +/*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 +#define left -90 + + +class States +{ +public: + States(); + void tellAngle(); + void tellPad(); + void move(); +private: + /*モーター系*/ + WheelUnit omni; + Serial serial; + + /*角度制御*/ + R1370 gyro; + PID anglePID; + float norm; + float nowAngle; + int idealAngle; + float deviation; + float turnPower; + int state; + + /*コントローラ系*/ + Controller pad; + float stickRad; + float stickNorm; + float X; + float Y; + int b[11],b2[11],b3[11]; +}; +#endif