2015 robotic contest arakawa A / Mbed 2 deprecated Nucleo_PS3_Jikken_XBOX

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Dependencies:   mbed

Fork of Nucleo_PS3_Jikken_PS3 by 2015 robotic contest arakawa A

Diff: main.cpp

Revision:
22:ab619079fb8d
Parent:
20:373fa71ce05b
Child:
23:d5f7e3dab589
diff -r 373fa71ce05b -r ab619079fb8d main.cpp
--- a/main.cpp	Fri Oct 16 09:32:02 2015 +0000
+++ b/main.cpp	Sat Oct 17 05:44:35 2015 +0000
@@ -23,7 +23,6 @@
 #define TNL 150
 #define debugFlag 1
 #define stopCount 33
-#define shotWait 0.2
 
 Serial pc(SERIAL_TX, SERIAL_RX);
 //Serial Dev(D8,D2);//コントローラー
@@ -256,7 +255,7 @@
         //射出
         if(getBt(btL)&&obonFlag){
             kRed=shotToDenziben(airReg,1,1,airAddr);
-            wait(shotWait);
+            wait(0.5f);
             kRed=shotToDenziben(airReg,0,1,airAddr);
             kRed=0;
         }
@@ -264,7 +263,7 @@
         //射出
         if(getBt(btR)&&obonFlag){
             kRed=shotToDenziben(airReg,2,1,airAddr);
-            wait(shotWait);
+            wait(0.5f);
             kRed=shotToDenziben(airReg,0,1,airAddr);
             //printf("shot:%d\r\n",i2cS=i2c.write(airAddr,cmd,2));
             //i2c.write(airAddr,cmd,2);
@@ -274,7 +273,7 @@
         //射出
         if(getBt(btTri)&&obonFlag){
             kRed=shotToDenziben(airReg,4,1,airAddr);
-            wait(shotWait);
+            wait(0.5f);
             kRed=shotToDenziben(airReg,0,1,airAddr);
             kRed=0;
         }
@@ -288,26 +287,26 @@
         else if(!getBt(btSqa))
             sqf=1;
             
-        //レーザーセンサ
-        if(!((int)DATA[1]&2)==2&&!((int)DATA[1]%1)==1){
-            //Mechanum.putc(162);
+        //タッチセンサ
+        if(((int)DATA[1]&12)==12){
+            bValue=0;gValue=0.8;rValue=0;
         }
         
         //お盆回し
         if(getPress(presUp)){
             obonFlag=true;
+            Mechanum.putc(162);
             rValue=0.8;gValue=0;bValue=0.8;
             kRed=0;
+            wait(0.2);
         }
         else if(getPress(presDown)){
+            Mechanum.putc(163);
             bValue=0.8f;gValue=0;rValue=0;
             obonFlag=false;
             kRed=0;
-        }
-        else{
-            bValue=0.8f;gValue=0;rValue=0;
-        }
-            
+            wait(0.2);
+        }         
         
         deg=devidePoint((double)DATA[3],(double)DATA[2],15,360/devideNum);
         if(getPress(btSel)||(detFinF&&deg!=devideNum)){