2022_gorobo_Ateam / Mbed 2 deprecated beenbag_shoot_highspeed

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Dependencies:   mbed MOTOR

Diff: main.cpp

Revision:
8:38db82c3492a
Parent:
7:0e3a6da2e175
Child:
9:6008a52fb6ef
diff -r 0e3a6da2e175 -r 38db82c3492a main.cpp
--- a/main.cpp	Sat Jan 15 11:17:07 2022 +0000
+++ b/main.cpp	Mon Jan 17 02:45:48 2022 +0000
@@ -15,12 +15,13 @@
 PwmOut servo1(PB_8); //サーボ
 PwmOut servo2(PB_9);
 
-//DigitalIn (dp16);
+DigitalIn limit(dp16);
 
 int shoot_able;//発射フェーズ 0:待機　1:引き動作　2:リボルバー1/6回転　3:発射　
 int turn_able;//回転フェーズ　0:待機　1:1/6回転
 
 double revolver_pwm = 0.1;//リボルバー回転速度
+double shoot_pwm = 0.1;//装填モーター速度
 int theta = 500;//サーボ回転角度
 double interval = 0.1;
 int roricon = 0;
@@ -84,6 +85,9 @@
             
             case 1:
             //装填動作コードをここに書く！
+            while(limit.read() == 0){
+                motor_shoot.output(shoot_pwm);
+            }
             shoot_able = 2;
             printf("finished pulling\n"); 
             wait(5);