2015_robocon_bteam
/
2015robot_main
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Fork of
2015robot_main
by 
Naoto Deguchi
Diff: Swing.h
- Revision:
- 101:b67d33e56b66
- Parent:
- 100:5769dc0e7478
- Child:
- 112:717acc7c99f9
diff -r 5769dc0e7478 -r b67d33e56b66 Swing.h
--- a/Swing.h Fri Oct 16 10:58:18 2015 +0000
+++ b/Swing.h Sat Oct 17 06:04:49 2015 +0000
@@ -2,12 +2,12 @@
#define SWING_H
/***Swing.***/
-PID contSwing(10.917 ,10.0 ,0.0 ,RATE);
+PID contSwing(20.917 ,2.0 ,0.0 ,RATE);
Ticker interruptSwingSpeed;
inline void countSwingSpeed() {
static int i = 0;
- if (i < swingspeed) {
+ if (i <= swingspeed) {
i+=swingspeed/10.0;
targSwingRadVelocity=i;
}
@@ -32,7 +32,7 @@
enableShoot=0;
// waitTime = (float)(((2.0 * PI) / swingRadVelocity) / 2.0);
// waitTime = (float)((((10.0 * PI) / 4.0) / swingRadVelocity) / 8.0);
- if(swingRadVelocity==0.0) waitTime = (float)((((2.0 * PI) / swingRadVelocity) / 4.0)-0.0017);
+ if(swingRadVelocity==0.0) waitTime = (float)((((2.0 * PI) / swingRadVelocity) / 4.0));//-0.0017);
else waitTime=0.0;
if(waitTime<0.0) waitTime=0.0;
if(waitTime>10.0) waitTime=10.0;
