2015_robocon_bteam / Mbed 2 deprecated 2015robot_main_zenkoku

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Dependencies:   PID QEI mbed

Diff: main_ps3.cpp

Revision:
13:57d8e360e9aa
Parent:
10:8a2255451513
Child:
14:943e663694c3
--- a/main_ps3.cpp	Mon Nov 02 09:04:20 2015 +0000
+++ b/main_ps3.cpp	Tue Nov 03 00:45:17 2015 +0000
@@ -6,10 +6,6 @@
 #define BLUE
 //#define RED
 
-/***コントローラ選択***/
-#define IM920
-//#define PS3
-
 /***マシン状態計測***/
 //#define MESURE
 
@@ -33,11 +29,6 @@
 
 int main() {
     Com.attach(&Call,RATE);
-#ifdef IM920
-    initializeIM920();
-#else
-    initializeSBDBT();
-#endif
     initializeMotors();
     initializeControllers();
     initializeRS485();
@@ -58,11 +49,7 @@
     sendData(7,0);
     while(1) {
         if(autoflag){
-#ifdef IM920
             autoIM920(); /*IM920 button*/
-#else
-            autoPS3();   /*PS3 button*/
-#endif
 #ifdef BLUE
             //Blue            
             /********************************Nomal Mode*********************************/
@@ -343,21 +330,15 @@
         else if(!autoflag) {
             flaga=0;
             mesureSwing();
-#ifdef IM920
             manualMoveIM920(); /*analogStick*/
             manualIM920();     /*IM920 button*/
-#else
-            manualMovePS3();   /*analogStick*/
-            manualPS3();       /*PS3 button*/
-#endif
         }
         /***update state***/ 
 #ifdef IM920
         readIM920();
 #endif
-        pc.printf("x:%f,y:%f\r\n",x,y);
+//        pc.printf("x:%f,y:%f\r\n",x,y);
+        pc.printf("a2:%f ,b:%f ,X:%f ,Y:%f\r\n",a2,b,X,Y);
 //        wait(RATE);
-
-//        pc.printf("%f\r\n",(float)((((2.0 * PI) / swingRadVelocity) / 4.0)));
     }
 }
\ No newline at end of file