2015_robocon_bteam
/
2015robot_main
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Fork of
2015robot_main
by 
Naoto Deguchi
Diff: Swing.h
- Revision:
- 49:9276fda93084
- Child:
- 50:8ea4714316ce
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Swing.h Sat Sep 26 01:37:01 2015 +0000
@@ -0,0 +1,37 @@
+#ifndef SWING_H
+#define SWING_H
+
+/***Swing.***/
+PID contSwing(5.917 ,0.2145 ,0.0 ,RATE);
+inline void initializeSwing() {
+ interrupter.rise(&countSwing);
+ Motor_swing.period_us(SWING_PERIOD);
+ //controller set
+ contSwing.setInputLimits(0.0, 1.0);
+ contSwing.setOutputLimits(0.0, 1.0);
+ contSwing.setBias(0.0);
+ contSwing.setMode(AUTO_MODE);
+}
+
+void countSwing() {
+ Indicator1 = !Indicator1;
+ if(enableShoot){
+ enableShoot=0;
+ if(targSwingRadVelocity != 0.0) wait((2 * PI) / swingRadVelocity);
+ sendData(1,6);
+ }
+}
+
+inline void mesureSwing() {
+ PulsesSwing = ( double )SwingSens.getPulses();
+ swingRadVelocity = (((PulsesSwing - PrefPulsesSwing) / 4.0) / pprS ) * 2 * PI;
+ PrefPulsesSwing = PulsesSwing;
+}
+
+inline void swingFollowing(){
+ contSwing.setSetPoint(( float )targSwingRadVelocity);
+ contSwing.setProcessValue(( float )swingRadVelocity);
+ Motor_swing = contSwing.compute();
+}
+
+#endif /*Swing.h*/
\ No newline at end of file
