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:
100:5769dc0e7478
Parent:
94:086b53bd195e
Parent:
99:ee7f78d64c14
Child:
101:b67d33e56b66
--- a/Swing.h	Fri Oct 16 10:47:50 2015 +0000
+++ b/Swing.h	Fri Oct 16 10:58:18 2015 +0000
@@ -30,11 +30,13 @@
     Indicator1 = !Indicator1;
     if(enableShoot){
         enableShoot=0;
-        if(swingRadVelocity > 1.0){
-//            waitTime = (float)(((2.0 * PI) / swingRadVelocity) / 2.0);
-            waitTime = (float)((((10.0 * PI) / 4.0) / swingRadVelocity) / 8.0);
-            wait(waitTime);
-        }
+//        waitTime = (float)(((2.0 * PI) / swingRadVelocity) / 2.0);
+//        waitTime = (float)((((10.0 * PI) / 4.0) / swingRadVelocity) / 8.0);
+        if(swingRadVelocity==0.0) waitTime = (float)((((2.0 * PI) / swingRadVelocity) / 4.0)-0.0017);
+        else waitTime=0.0;
+        if(waitTime<0.0) waitTime=0.0;
+        if(waitTime>10.0) waitTime=10.0;
+        wait(waitTime);
         sendData(1,6);
     }
 }
@@ -42,7 +44,7 @@
 double swingSita=0.0;
 inline void mesureSwing() {
     PulsesSwing       = ( double )SwingSens.getPulses();
-    swingRadVelocity  = (((PulsesSwing - PrefPulsesSwing) / 3450.0) * 2 * PI) / RATE;
+    swingRadVelocity  = (((PulsesSwing - PrefPulsesSwing) / 3000.0) * 2.0 * PI) / RATE;
     PrefPulsesSwing   = PulsesSwing;
 }