Diff: gakuBot/gakubot.cpp

Revision:

1:af8bee219a3a

Child:

3:8f4c81ad256a

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/gakuBot/gakubot.cpp	Sun Aug 05 02:47:05 2018 +0000
@@ -0,0 +1,68 @@
+#include "gakubot.h"
+
+GakuBot::GakuBot() :
+    led(LED2),
+    pid(KP,KI,KD,RATE),
+    omni(4),
+    angle1_1(air1_0),angle1_2(air1_1),
+    angle2_1(air2_0),angle2_2(air2_1),
+    con(XBee2TX, XBee2RX, ADDR),
+    wheel1 (PA_11,PA_12,NC, 2048, QEI::X4_ENCODING),
+    RS485control(PA_4),
+    RS485(PC_10,PC_11,115200),
+    debugpc(USBTX,USBRX,115200),
+    wheels( {
+    ikarashiMDC(&RS485control,0,0,SM,&RS485),
+    ikarashiMDC(&RS485control,0,1,SM,&RS485),
+    ikarashiMDC(&RS485control,0,2,SM,&RS485),
+    ikarashiMDC(&RS485control,0,3,SM,&RS485)
+}),
+fire( {
+    ikarashiMDC(&RS485control,1,0,SM,&RS485),
+    ikarashiMDC(&RS485control,1,1,SM,&RS485),
+    ikarashiMDC(&RS485control,1,2,SM,&RS485)
+})
+{
+    stick[4] = {0}, speed[4] = {0}, Output_PID = 0;
+    airFlag = 0,airFlag2 = 0,airStatus = 0,airStatus2 = 0;
+    int distance = 970,distanceOfset = 0;
+    omni.wheel[0].setRadian(PI / 4.0 * 1.0);
+    omni.wheel[1].setRadian(PI / 4.0 * 3.0);
+    omni.wheel[2].setRadian(PI / 4.0 * 5.0);
+    omni.wheel[3].setRadian(PI / 4.0 * 7.0);
+    for(int i = 0; i < 4; i++) {
+        wheels[i].braking = true;
+    }
+    for(int i = 0; i < 3; i++) {
+        armMotor[i].braking = true;
+    }
+    pid.setMode(AUTO_MODE);
+    pid.setInputLimits(-100, 1600);
+    pid.setOutputLimits(-1.0, 1.0);
+//    pid.setSetPoint(distance);// 目標値
+    pid.setBias(0.0);   // outputの変わり目
+}
+
+void GakuBot::botConfirm()
+{
+
+}
+void GakuBot::controllerMode1()
+{
+
+}
+void GakuBot::autoMode1()
+{
+
+}
+
+
+void GakuBot::controllMech()
+{
+
+}
+
+void GakuBot::autoMech()
+{
+
+}
\ No newline at end of file