2015_robocon_bteam / Mbed 2 deprecated 2015robot_main

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Dependencies:   PID QEI mbed

Fork of 2015robot_main by Naoto Deguchi

Swing.h

Committer:
DeguNaoto
Date:
2015-09-29
Revision:
57:3fbd487e055e
Parent:
55:db1797ac6cb1
Child:
58:6b73e683fa70
Child:
60:4a75f3f3a934

File content as of revision 57:3fbd487e055e:

#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);
}
float waitTime = 0.0;
void countSwing() {
    Indicator1 = !Indicator1;
    if(enableShoot){
        enableShoot=0;
        if(swingRadVelocity > 2.0){
            waitTime = (float)((2 * PI) / swingRadVelocity); 
            wait(waitTime);
        }
        sendData(1,6);
    }
}

double swingSita=0.0;
inline void mesureSwing() {
    PulsesSwing       = ( double )SwingSens.getPulses();
    swingRadVelocity  = (((PulsesSwing - PrefPulsesSwing) / 3450) * 2 * PI) / RATE;
    PrefPulsesSwing   = PulsesSwing;
}

double cont=0.0;
inline void swingFollowing(){
    contSwing.setSetPoint(( float )targSwingRadVelocity);
    contSwing.setProcessValue(( float )swingRadVelocity);
    cont = contSwing.compute();
    Motor_swing = cont;
}

#endif /*Swing.h*/