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:
2015-09-26
Revision:
50:8ea4714316ce
Parent:
49:9276fda93084
Child:
55:db1797ac6cb1

File content as of revision 50:8ea4714316ce:

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

#endif /*Swing.h*/