2017 　部内対抗4班　ROBOSTEP / Mbed 2 deprecated PS3_BlueUSB_user_ver2_2

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Dependencies:   mbed

Fork of PS3_BlueUSB_user_ver2_kage by 2017 　部内対抗4班　ROBOSTEP

Files at this revision

API Documentation at this revision

Revision 17:41ea4c1bc6af, committed 2017-05-27

Comitter:
yuto17320508
Date:
Sat May 27 05:00:15 2017 +0000
Parent:
16:b37dc2bb1352
Commit message:
koreageru

Changed in this revision

User.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/User.cpp	Wed May 24 10:45:33 2017 +0000
+++ b/User.cpp	Sat May 27 05:00:15 2017 +0000
@@ -142,12 +142,12 @@
 
 //〇ボタンで一個掃き出し
     if((ButtonState >> BUTTONCIRCLE)&1 == 1) {
-         //離し
+        //離し
         pin_pick_1=pick_speed;
         pin_pick_2=1;
         pin_pick_3=0;
-        wait(0.5);
-         //誤差修正
+        wait(0.45);
+        //誤差修正
         pin_pick_1=pick_speed;
         pin_pick_2=0;
         pin_pick_3=1;
@@ -155,40 +155,54 @@
 
 
     }
-   
+
 
     //十字キー
     if((ButtonState >> BUTTONUP)&1 == 1) {//上ボタン 前進
-        pin_ueasi_1=ue_speed;
+        pin_ueasi_1=0.85;
         pin_ueasi_2=0;
         pin_sitaasi_1=0;
-        pin_sitaasi_2=sita_speed;
-    } if((ButtonState >> BUTTONDOWN)&1 == 1) {//下ボタン　後進
-        pin_ueasi_1=0;
-        pin_ueasi_2=ue_speed;
-        pin_sitaasi_1=sita_speed;
-        pin_sitaasi_2=0;
-    } if((ButtonState >> BUTTONRIGHT)&1 == 1) {//右ボタン　右旋回
+        pin_sitaasi_2=1;
+    }
+    if((ButtonState >> BUTTONDOWN)&1 == 1) {//下ボタン　後進
         pin_ueasi_1=0;
-        pin_ueasi_2=ue_speed;
-        pin_sitaasi_1=0;
-        pin_sitaasi_2=sita_speed;
-    } if((ButtonState >> BUTTONLEFT)&1 == 1) {//左ボタン　左旋回
-        pin_ueasi_1=ue_speed;
-        pin_ueasi_2=0;
-        pin_sitaasi_1=sita_speed;
+        pin_ueasi_2=0.85;
+        pin_sitaasi_1=1;
         pin_sitaasi_2=0;
     }
-    
-    
-    
+    if((ButtonState >> BUTTONRIGHT)&1 == 1) {//右ボタン　右旋回
+        pin_ueasi_1=0;
+        pin_ueasi_2=0.85;
+        pin_sitaasi_1=0;
+        pin_sitaasi_2=1;
+    }
+    if((ButtonState >> BUTTONLEFT)&1 == 1) {//左ボタン　左旋回
+        pin_ueasi_1=0.85;
+        pin_ueasi_2=0;
+        pin_sitaasi_1=1;
+        pin_sitaasi_2=0;
+    }
+
+
+    //△ボタンで自動振幅腕
+    if((ButtonState >> BUTTONTRIANGEL)&1 == 1) {
+        //上昇
+        pin_lift_1=lift_speed;
+        pin_lift_2=1;
+        pin_lift_3=0;
+        wait(3.8);
+        
+        }
 
 
 
-    //データ取得例
 
-    //値の取得はps3.hを参照
-    //ここまでプログラム例    実機に乗せるときは消して大丈夫です
 
 
-}
+        //データ取得例
+
+        //値の取得はps3.hを参照
+        //ここまでプログラム例    実機に乗せるときは消して大丈夫です
+
+
+    }