2015_robocon_bteam / Mbed 2 deprecated 2015robot_main_zenkoku

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Dependencies:   PID QEI mbed

Diff: Swing.h

Revision:
7:4aa57a35ec0b
Parent:
0:b613dc16f27d
Child:
22:4127fcf8c7d7
Child:
24:6d2573d6f2b6
--- a/Swing.h	Sun Nov 01 02:31:30 2015 +0000
+++ b/Swing.h	Sun Nov 01 09:50:46 2015 +0000
@@ -32,19 +32,12 @@
     contSwing.setBias(0.0);
     contSwing.setMode(AUTO_MODE);
 }
-float waitTime = 0.0;
+
 void countSwing() {
     Indicator1 = !Indicator1;
     if(enableShoot){
         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);
-        else waitTime=0.0;
-        if(waitTime<0.0) waitTime=0.0;
-        if(waitTime>10.0) waitTime=10.0;
-        wait(waitTime);
-        sendData(1,6);
+        sendData(2,15);
     }
 }