2015_robocon_bteam / Mbed 2 deprecated 2015robot_main

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Dependencies:   PID QEI mbed

Fork of 2015robot_main by Naoto Deguchi

Diff: Swing.h

Revision:
55:db1797ac6cb1
Parent:
50:8ea4714316ce
Child:
57:3fbd487e055e
diff -r 51ee40cf3d74 -r db1797ac6cb1 Swing.h
--- a/Swing.h	Sun Sep 27 10:26:19 2015 +0000
+++ b/Swing.h	Mon Sep 28 07:53:39 2015 +0000
@@ -22,11 +22,13 @@
     }
 }
 
+double swingSita=0.0;
 inline void mesureSwing() {
-    PulsesSwing     = ( double )SwingSens.getPulses();
-    swingRadVelocity   = (((PulsesSwing - PrefPulsesSwing) / 4.0) / pprS ) * 2 * PI;
-    PrefPulsesSwing = PulsesSwing;
+    PulsesSwing       = ( double )SwingSens.getPulses();
+    swingRadVelocity  = (((PulsesSwing - PrefPulsesSwing) / 3450) * 2 * PI) / RATE;
+    PrefPulsesSwing   = PulsesSwing;
 }
+
 double cont=0.0;
 inline void swingFollowing(){
     contSwing.setSetPoint(( float )targSwingRadVelocity);