2015_robocon_bteam / Mbed 2 deprecated 2015robot_main_zenkoku

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Dependencies:   PID QEI mbed

Diff: main_ps3.cpp

Revision:
22:4127fcf8c7d7
Parent:
20:39a51962ed38
--- a/main_ps3.cpp	Thu Nov 05 11:43:43 2015 +0000
+++ b/main_ps3.cpp	Sat Nov 07 00:16:09 2015 +0000
@@ -56,6 +56,7 @@
 #endif
     wait(0.3);
     sendData(7,0);
+    initializeSwing();
     while(1) {
         if(autoflag){
 #ifdef IM920
@@ -335,6 +336,7 @@
         else if(!autoflag) {
             flaga=0;
             mesureSwing();
+//            swingFollowing();
 #ifdef IM920
             manualMoveIM920(); /*analogStick*/
             manualIM920();     /*IM920 button*/
@@ -342,12 +344,13 @@
             manualMovePS3();   /*analogStick*/
             manualPS3();       /*PS3 button*/
 #endif
+            pc.printf("cont:%f\r\n",cont);
         }
         /***update state***/ 
 #ifdef IM920
         readIM920();
 #endif
-        pc.printf("x:%f ,y:%f ,sita:%f\r\n",x,y,sita);
+//        pc.printf("x:%f ,y:%f ,sita:%f\r\n",x,y,sita);
 //        wait(RATE);
 
 //        pc.printf("%f\r\n",(float)((((2.0 * PI) / swingRadVelocity) / 4.0)));