Diff: KaidaKari.cpp

Revision:

15:5e973e6c058c

Parent:

14:67ee8d8f4efe

Child:

16:ea0808fbbb40

--- a/KaidaKari.cpp	Mon Jun 06 12:22:38 2016 +0000
+++ b/KaidaKari.cpp	Thu Jun 09 02:53:48 2016 +0000
@@ -7,10 +7,6 @@
 
 int RSX,RSY,LSX,LSY,BSU,BSL;
 //これより下に関数外に書く要素を記入する
-PwmOut led1(LED1);
-PwmOut led2(LED2);
-DigitalOut led3(LED3);
-DigitalOut led4(LED4);
 
 //MD1
 PwmOut motorRightOne (p25);
@@ -22,13 +18,13 @@
 
 //MD3 Arm1
 PwmOut armRight(p22);
-DigitalOut armOne (p29);
-DigitalOut armTwo (p30);
+DigitalOut armThree (p29);
+DigitalOut armFour (p30);
 
 //MD4 Arm2
-PwmOut armLeft(p21);
-DigitalOut armThree (p19);
-DigitalOut armFour (p20);
+PwmOut armLeft(p22);
+DigitalOut armOne (p19);
+DigitalOut armTwo (p20);
 
 
 /*
@@ -61,8 +57,7 @@
     I need to ask what to do with this!
     Actually, do we have any LEDs?
     */
-    led1.period_ms(20);
-    led3=1;
+
 }
 
 void UserLoop(char n,const u8* data)
@@ -96,73 +91,86 @@
      double fastSpeed = 1;
      double slowSpeed = 0.5;
      */
-     
+
 //motor
-    if(  RSY>140 ) {//forward
+    if( LSY > 140 && (ButtonState >> BUTTONLANALOG)&1 == 1) {
+        motorRightOne = 0.8;
+        motorRightTwo = 0;
+        motorLeftOne = 0.8;
+        motorLeftTwo = 0;
+
+    } else if( LSY < 110 && (ButtonState >> BUTTONLANALOG)&1 == 1) {
+        motorRightOne = 0;
+        motorRightTwo = 0.8;
+        motorLeftOne = 0;
+        motorLeftTwo = 0.8;
+
+    } else if(  LSY > 140 ) { //forward
         motorRightOne = 0.4;
         motorRightTwo = 0;
         motorLeftOne = 0.4;
         motorLeftTwo = 0;
-    } else if( RSY<110 ) { //back
+
+    } else if( LSY < 110 ) { //back
         motorRightOne = 0;
         motorRightTwo = 0.4;
         motorLeftOne = 0;
         motorLeftTwo = 0.4;
-    } else {//stop
+    } else { //stop
         motorRightOne = 0;
         motorRightTwo = 0;
         motorLeftOne = 0;
         motorLeftTwo = 0;
     }
 
-
-//turn left
     if(( ButtonState >> BUTTONR1)&1 == 1) {
+        motorRightOne = 0;
+        motorRightTwo = 0.4;
+        motorLeftOne = 0.4;
+        motorLeftTwo = 0;
+    }
+    if(( ButtonState >> BUTTONL1)&1 == 1) {
         motorRightOne = 0.4;
         motorRightTwo = 0;
         motorLeftOne = 0;
-        motorLeftTwo = 0.4;
-    }
-//turn right
-    if(( ButtonState >> BUTTONL1)&1 == 1) {
-        motorLeftOne = 0;
-        motorLeftTwo = 0.4;
-        motorRightOne = 0.4;
-        motorRightTwo = 0;
+        motorLeftTwo = 0.4
+        ;
+
     }
 
 //arm
 
-    if(  LSY>140 ) {
+    if(  (ButtonState >> BUTTONL2)&1 == 1 ) {
+        armOne = 0;
+        armTwo = 1;
+        armRight = 0.8;
+    } else if( (ButtonState >> BUTTONR2)&1 == 1 ) {
         armOne = 1;
         armTwo = 0;
         armRight = 0.4;
-    } else if( RSY<110 ) {
-        armOne = 0;
-        armTwo = 1;
-        armRight = 0.4;
     } else {
         armOne = 0;
         armTwo = 0;
         armRight = 0;
+
     }
 
-    if((ButtonState >> BUTTONCROSS)&1 == 1) {
+    if((ButtonState >> BUTTONTRIANGEL)&1 == 1) {
         armThree = 1;
         armFour = 0;
         armLeft = 0.4;
-    } else if((ButtonState >> BUTTONTRIANGEL)&1 == 1) {
+    } else if((ButtonState >> BUTTONCROSS)&1 == 1) {
         armThree = 0;
         armFour = 1;
         armLeft = 0.4;
-    }else{
+    } else {
         armThree = 0;
         armFour = 0;
         armLeft = 0;
     }
 
 
-    if(( ButtonState >> BUTTONPC)&1 == 1) {
+    if(( ButtonState >> BUTTONPS)&1 == 1) {
 
         motorRightOne = 0;
         motorRightTwo = 0;
@@ -172,8 +180,8 @@
         armTwo = 0;
         armThree = 0;
         armFour = 0;
-        armRight = 0;
-        armLeft = 0;
+        
+        wait(1);
 
     }
     /*
@@ -190,9 +198,6 @@
         //○が押されたとき
     }
 
-
-    led1=RSX/256.0f;
-    led2=RSY/256.0f;
     /*
         led3=ButtonState & 0x0400;  //L1の状態
         led4=ButtonState & 0x0800;  //R1の状態