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:
93:9cacc1763463
Parent:
91:83c2e0381384
Child:
94:086b53bd195e
Child:
95:deb2e75c42ff
--- a/Swing.h	Fri Oct 16 06:02:29 2015 +0000
+++ b/Swing.h	Fri Oct 16 06:25:58 2015 +0000
@@ -2,7 +2,19 @@
 #define SWING_H
 
 /***Swing.***/
-PID contSwing(10.917 ,20.0 ,0.0 ,RATE);
+PID contSwing(10.917 ,10.0 ,0.0 ,RATE);
+Ticker interruptSwingSpeed;
+
+inline void countSwingSpeed() {
+    static int i = 0;
+    if (i >= swingspeed) {
+        i+=swingspeed/10.0;
+        targSwingRadVelocity=i;
+    }
+    else {
+        interruptSwingSpeed.detach();
+    }
+}
 
 inline void initializeSwing() {
     interrupter.rise(&countSwing);