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:
83:e1638c58e1f1
Parent:
79:7f86e18f40ef
Child:
84:919a335ac81e
--- a/Swing.h	Sun Oct 11 07:42:18 2015 +0000
+++ b/Swing.h	Mon Oct 12 06:15:45 2015 +0000
@@ -2,14 +2,14 @@
 #define SWING_H
 
 /***Swing.***/
-PID contSwing(5.917 ,2145.0 ,0.0 ,RATE);
+PID contSwing(15.917 ,2.0 ,0.0 ,RATE);
 
 inline void initializeSwing() {
     interrupter.rise(&countSwing);
     Motor_swing.period_us(SWING_PERIOD);
     //controller set
     contSwing.setInputLimits(0.0, 100.0);
-    contSwing.setOutputLimits(0.0, 0.6);
+    contSwing.setOutputLimits(0.0, 1.0);
     contSwing.setBias(0.0);
     contSwing.setMode(AUTO_MODE);
 }
@@ -20,7 +20,7 @@
         enableShoot=0;
         if(swingRadVelocity > 1.0){
 //            waitTime = (float)(((2.0 * PI) / swingRadVelocity) / 2.0);
-            waitTime = (float)((((9.0 * PI) / 4.0) / swingRadVelocity) / 4.0);
+            waitTime = (float)((((10.0 * PI) / 4.0) / swingRadVelocity) / 8.0);
             wait(waitTime);
         }
         sendData(1,6);