Diff: main.cpp

Revision:

17:9ee4c69d2d8b

Parent:

16:04f42eeb9561

Child:

18:c61ba21bbc67

--- a/main.cpp	Wed Jan 26 16:16:41 2022 +0000
+++ b/main.cpp	Thu Jan 27 07:29:51 2022 +0000
@@ -17,9 +17,9 @@
 DigitalIn limit_1(PA_9);//リミットスイッチ１
 DigitalIn limit_2(PA_8);//リミットスイッチ２
 
-int shoot_phase;//発射フェーズ 0:待機　1:装填動作　2:リボルバー回転、モーター復帰（同時）　3:発射　
-bool turn_able;//回転可否　0:待機　1:回転
-bool back_able;
+int shoot_phase = 0;//発射フェーズ 0:待機　1:装填動作　2:リボルバー回転、モーター復帰（同時）　3:発射　
+bool turn_able = 0;//回転可否　0:待機　1:回転
+bool back_able = 0;//復帰可否
 
 double revolver_pwm = -0.03;//リボルバー回転速度
 double load_pwm = -0.3;//装填モーター速度
@@ -44,7 +44,7 @@
         if(count == 1){
             motor_revolver.output(0);
             turn_able = 0;
-            printf("finished turnning\n");  
+            printf("no turn\n");  
         }
         if(count != 1){
             if(roricon < 341 * (count - 1)){
@@ -75,13 +75,12 @@
         if(turn_able == 0 && turn_able == 0){
             break;
         }
-        wait(0.01);
+        wait(0.1);
     }
 }
 
 int main(){
     int count = 1;//何発目か
-    shoot_phase = 0;
     
     servo.period_us(20000);
     limit_1.mode(PullUp);
@@ -105,10 +104,10 @@
             while(limit_1.read() == 0){
                 motor_shoot.output(load_pwm);
                 printf("loading\n");
-                wait(0.1);
                 if(limit_2.read() == 1){
                     break;
                 }
+                wait(0.1);
             } 
             motor_shoot.output(0);
             shoot_phase = 2;
@@ -120,15 +119,14 @@
             turn_able = 1;
             back_able = 1;
             revolver_back(count);
+            shoot_phase = 3;
             printf("finished backing\n"); 
-            shoot_phase = 3;
+            wait(3);
             break;
             
             case 3://発射動作
-            wait(3);
             servo.pulsewidth_us(theta_45);
-            printf("finished shooting %d shot\n",count);  
-            count ++;
+            printf("%d shot\n",count);  
             wait(3);
             servo.pulsewidth_us(theta_0);
             motor_shoot.output(load_pwm);
@@ -136,6 +134,7 @@
             motor_shoot.output(0);
             shoot_phase = 0;
             printf("finished init\n");  
+            count ++;
             break;            
         }
     }