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@57:3fbd487e055e, 2015-09-29 (annotated)

Committer:
DeguNaoto
Date:
Tue Sep 29 08:23:03 2015 +0000
Revision:
57:3fbd487e055e
Parent:
55:db1797ac6cb1
Child:
58:6b73e683fa70
Child:
60:4a75f3f3a934
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Who changed what in which revision?

UserRevisionLine numberNew contents of line
DeguNaoto 49:9276fda93084 1 #ifndef SWING_H
DeguNaoto 49:9276fda93084 2 #define SWING_H
DeguNaoto 49:9276fda93084 3
DeguNaoto 49:9276fda93084 4 /***Swing.***/
DeguNaoto 49:9276fda93084 5 PID contSwing(5.917 ,0.2145 ,0.0 ,RATE);
DeguNaoto 57:3fbd487e055e 6
DeguNaoto 49:9276fda93084 7 inline void initializeSwing() {
DeguNaoto 49:9276fda93084 8 interrupter.rise(&countSwing);
DeguNaoto 49:9276fda93084 9 Motor_swing.period_us(SWING_PERIOD);
DeguNaoto 49:9276fda93084 10 //controller set
DeguNaoto 49:9276fda93084 11 contSwing.setInputLimits(0.0, 1.0);
DeguNaoto 49:9276fda93084 12 contSwing.setOutputLimits(0.0, 1.0);
DeguNaoto 49:9276fda93084 13 contSwing.setBias(0.0);
DeguNaoto 49:9276fda93084 14 contSwing.setMode(AUTO_MODE);
DeguNaoto 49:9276fda93084 15 }
DeguNaoto 57:3fbd487e055e 16 float waitTime = 0.0;
DeguNaoto 49:9276fda93084 17 void countSwing() {
DeguNaoto 49:9276fda93084 18 Indicator1 = !Indicator1;
DeguNaoto 49:9276fda93084 19 if(enableShoot){
DeguNaoto 49:9276fda93084 20 enableShoot=0;
DeguNaoto 57:3fbd487e055e 21 if(swingRadVelocity > 2.0){
DeguNaoto 57:3fbd487e055e 22 waitTime = (float)((2 * PI) / swingRadVelocity);
DeguNaoto 57:3fbd487e055e 23 wait(waitTime);
DeguNaoto 57:3fbd487e055e 24 }
DeguNaoto 49:9276fda93084 25 sendData(1,6);
DeguNaoto 49:9276fda93084 26 }
DeguNaoto 49:9276fda93084 27 }
DeguNaoto 49:9276fda93084 28
DeguNaoto 55:db1797ac6cb1 29 double swingSita=0.0;
DeguNaoto 49:9276fda93084 30 inline void mesureSwing() {
DeguNaoto 55:db1797ac6cb1 31 PulsesSwing = ( double )SwingSens.getPulses();
DeguNaoto 55:db1797ac6cb1 32 swingRadVelocity = (((PulsesSwing - PrefPulsesSwing) / 3450) * 2 * PI) / RATE;
DeguNaoto 55:db1797ac6cb1 33 PrefPulsesSwing = PulsesSwing;
DeguNaoto 49:9276fda93084 34 }
DeguNaoto 55:db1797ac6cb1 35
DeguNaoto 50:8ea4714316ce 36 double cont=0.0;
DeguNaoto 49:9276fda93084 37 inline void swingFollowing(){
DeguNaoto 49:9276fda93084 38 contSwing.setSetPoint(( float )targSwingRadVelocity);
DeguNaoto 49:9276fda93084 39 contSwing.setProcessValue(( float )swingRadVelocity);
DeguNaoto 50:8ea4714316ce 40 cont = contSwing.compute();
DeguNaoto 50:8ea4714316ce 41 Motor_swing = cont;
DeguNaoto 49:9276fda93084 42 }
DeguNaoto 49:9276fda93084 43
DeguNaoto 49:9276fda93084 44 #endif /*Swing.h*/