nekodesu
states.h
- Committer:
- THtakahiro702286
- Date:
- 2019-07-08
- Revision:
- 0:8d012d469eb4
- Child:
- 1:38dd7564c15f
File content as of revision 0:8d012d469eb4:
#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