2015_robocon_bteam / Mbed 2 deprecated 2015robot_main

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Dependencies:   PID QEI mbed

Fork of 2015robot_main by Naoto Deguchi

Diff: manualMode.h

Revision:
93:9cacc1763463
Parent:
91:83c2e0381384
Child:
101:b67d33e56b66
diff -r 3a12444b5192 -r 9cacc1763463 manualMode.h
--- a/manualMode.h	Fri Oct 16 06:02:29 2015 +0000
+++ b/manualMode.h	Fri Oct 16 06:25:58 2015 +0000
@@ -41,12 +41,19 @@
     else if(b==5){
         if(edge5){
             edge5=0;
+            interruptSwingSpeed.attach(&countSwingSpeed, 0.05);
+            /*
+            for(float i=0.0;i<swingspeed;i+=swingspeed/10.0){
+                targSwingRadVelocity=i;
+                wait(0.05);
+            }
+            */
 //            targSwingRadVelocity = swingspeed;
-            for(float i=0.0;i<0.6;i+=0.01){
+            /*for(float i=0.0;i<0.6;i+=0.01){
                 Motor_swing=i;
                 wait(0.05);
             }
-            Motor_swing = 0.6;
+            Motor_swing = 0.6;*/
         }
     }
     else if(b==8){
@@ -56,9 +63,10 @@
         }
     }
     else if(b==9){
-//        targSwingRadVelocity = 0.0;
-//        contSwing.reset();
-        Motor_swing = 0.0;
+        targSwingRadVelocity = 0.0;
+        contSwing.reset();
+        interruptSwingSpeed.detach();
+//        Motor_swing = 0.0;
     }
     /*else if(b==5){
         sendData(1,5);