Diff: main.cpp

Revision:

7:59be95fceafa

Parent:

6:fd9b59f828e8

Child:

8:e76d6c16d7af

--- a/main.cpp	Sat Jan 29 14:48:41 2022 +0000
+++ b/main.cpp	Thu Feb 03 13:31:38 2022 +0000
@@ -25,10 +25,15 @@
     const int y_component_cmd = 2;
     const int l2_cmd = 3;
     const int r2_cmd = 4;
+    const int l1_cmd = 5;
     
     //ビーンバッグ回収用
     
     //ビーンバッグ発射用
+    const int load = 3;
+    const int revolver = 4;
+    const int back = 5;
+    const int shot = 6;
     
     //農作物回収・設置用
     const int up = 1;
@@ -37,13 +42,14 @@
     //テープLED用
     
     //遠隔非常停止受信用
-    const int 
     
     //全体送信用
     const int select = 50;//手動・自動切り替え
     const int stop_all = 51;//全プログラム停止
     
     //変数
+    bool auto_mode = false;
+    bool auto_start;
     int x_component;
     int y_component;
     int l2_num;
@@ -56,25 +62,40 @@
         y_component = sb.rsy();
         l2_num = sb.l2An();
         r2_num = sb.r2An();
+        if(select() == 1){
+            auto_mode =! auto_mode;
+        }
         
         //足回り
         scrp.send1(wheel_num,x_component_cmd,x_component);
-        wait_ms(1);
+        wait_ms(2);
         scrp.send1(wheel_num,y_component_cmd,y_component);
-        wait_ms(1);
+        wait_ms(2);
         scrp.send1(wheel_num,l2_cmd,l2_num);
-        wait_ms(1);
+        wait_ms(2);
         scrp.send1(wheel_num,r2_cmd,r2_num);
-        wait_ms(1);
+        wait_ms(2);
+        scrp.send1(wheel_num,l1_cmd,sb.l1());
+        wait_ms(2);
         
         //ビーンバッグ回収
         
         //ビーンバッグ発射
+        if(auto_mode == true){
+            scrp.send1(BeanbagShot_num,load,down());
+            wait_ms(2);
+            scrp.send1(BeanbagShot_num,revolver,right());
+            wait_ms(2);
+            scrp.send1(BeanbagShot_num,back,up());
+            wait_ms(2);
+            scrp.send1(BeanbagShot_num,shot,left());
+            wait_ms(2);
+        }
         
         //農作物回収・設置
         
         //全体送信
-        scrp.send1(send_all,select,sb.select());//自動・手動モード切り替え
+        scrp.send1(send_all,select,auto_mode);//自動・手動モード切り替え
         wait_ms(1);
     }
 }
\ No newline at end of file