2022_gorobo_Ateam / Mbed 2 deprecated harvest

農作物回収機構プログラム

Dependencies:   mbed arrc_mbed Motor

Files at this revision

API Documentation at this revision

Revision 2:c37a8b45b96f, committed 2022-03-28

Comitter:
m2130
Date:
Mon Mar 28 04:17:20 2022 +0000
Parent:
1:7937f28c742d
Commit message:
awawawawawawwawawa

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
diff -r 7937f28c742d -r c37a8b45b96f main.cpp
--- a/main.cpp	Tue Mar 15 08:44:02 2022 +0000
+++ b/main.cpp	Mon Mar 28 04:17:20 2022 +0000
@@ -13,7 +13,7 @@
 DigitalIn Limitswitch4(PB_1);
 
 //-----Constants-----
-const double pwm = 0.45;
+const double pwm = 0.4;
 
 //-----Sub Routines-----
 bool Up(int RX,int &TX);
@@ -44,18 +44,19 @@
         limitswitch4 = Limitswitch4.read() ? 0 : 1; 
         printf("%d %d %d %d %d %d\n", up, down, limitswitch1, limitswitch2, limitswitch3, limitswitch4);
         PWM1 = pwm * ((up * limitswitch1) - (down * limitswitch3));
-        PWM2 = pwm * ((up * limitswitch2) - (down * limitswitch4));
+        PWM2 = pwm * ((up * limitswitch2) - (down * limitswitch4)) * 0.8;
         motor1.out(PWM1);
         motor2.out(PWM2);
     }
 }
 
 bool Up(int RX, int &TX){
-    up = RX;
+    if(RX == 1)up = RX;
     return true;
 }
 
 bool Down(int RX, int &TX){
     down = RX;
+    if(RX == 1)up = 0;
     return true;
 }
\ No newline at end of file