2015_robocon_bteam / Mbed 2 deprecated 2015robot_main

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Dependencies:   PID QEI mbed

Fork of 2015robot_main by Naoto Deguchi

Diff: Swing.h

Revision:
62:02a44f5bc51e
Parent:
61:e018207ae860
Child:
66:14df82661dfa
--- a/Swing.h	Sat Oct 03 00:52:21 2015 +0000
+++ b/Swing.h	Sun Oct 04 07:18:36 2015 +0000
@@ -2,7 +2,7 @@
 #define SWING_H
 
 /***Swing.***/
-PID contSwing(5.917 ,0.2145 ,0.0 ,RATE);
+PID contSwing(5.917 ,2145.0 ,0.0 ,RATE);
 
 inline void initializeSwing() {
     interrupter.rise(&countSwing);
@@ -18,8 +18,8 @@
     Indicator1 = !Indicator1;
     if(enableShoot){
         enableShoot=0;
-        if(swingRadVelocity > 2.0){
-            waitTime = (float)((2 * PI) / swingRadVelocity); 
+        if(swingRadVelocity > 1.0){
+            waitTime = (float)(((2 * PI) / swingRadVelocity) / 2.0);
             wait(waitTime);
         }
         sendData(1,6);
@@ -29,7 +29,7 @@
 double swingSita=0.0;
 inline void mesureSwing() {
     PulsesSwing       = ( double )SwingSens.getPulses();
-    swingRadVelocity  = ((((PulsesSwing - PrefPulsesSwing) 3450.0) * 2 * PI) / RATE;
+    swingRadVelocity  = (((PulsesSwing - PrefPulsesSwing) / 3450.0) * 2 * PI) / RATE;
     PrefPulsesSwing   = PulsesSwing;
 }