7th_DENSOU / Mbed 2 deprecated NHK2021_Throw

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Dependencies:   mbed CalPID MotorController ros_lib_melodic Encoder

Diff: main.cpp

Revision:
1:64229388d55c
Parent:
0:679aca73f9c0
Child:
2:5289880d96df
--- a/main.cpp	Thu Jul 08 06:31:54 2021 +0000
+++ b/main.cpp	Tue Jul 13 06:21:56 2021 +0000
@@ -181,51 +181,46 @@
         } else if(state==1) {
             if(ec.getDeg()>THROW_FIN) {
                 ticker.detach();
-                target_rad=convertRad(THROW_FIN);
+                target_rad=convertRad(THROW_FIN+10);
                 ticker.attach(&angleControll,DELTA_T);
                 state++;
                 timer.reset();
                 timer.start();
             }
         }  else if(state==2) {
-            if(fabs(ec.getDeg()-THROW_FIN)>2.5) {
+            if(fabs(ec.getDeg()-(THROW_FIN+10))>2.5) {
                 timer.reset();
-            } else if(timer.read()>0.15) {
+            } else if(timer.read()>1.30) {
                 ticker.detach();
-                target_speed=0;
-                ticker.attach(&speedControll,DELTA_T);
+                motor.stop();
                 state++;
             }
         } else if(state==3) {
-            if(fabs(ec.getOmega())>1) {
-                timer.reset();
-            } else if(timer.read()>0.05) {
-                ticker.detach();
-                target_rad=convertRad(BOTTOM_ANGLE);
-                ticker.attach(&angleControll,DELTA_T);
-                state++;
-            }
-        } else if(state==4) {
-            if(fabs(ec.getDeg()-BOTTOM_ANGLE)>1) {
-                timer.reset();
-            } else if(timer.read()>0.05) {
-                ticker.detach();
-                state++;
+            target_rad=convertRad(BOTTOM_ANGLE);
+            ticker.attach(&angleControll,DELTA_T);
+            state++;
+        }
+    } else if(state==4) {
+        if(fabs(ec.getDeg()-BOTTOM_ANGLE)>1) {
+            timer.reset();
+        } else if(timer.read()>0.05) {
+            ticker.detach();
+            state++;
 
-            }
-        } else if(state==5) {
-            state++;
-            motor.stop();
+        }
+    } else if(state==5) {
+        state++;
+        motor.stop();
 
-        } else if(state==6) {
-            displayData();
-            state++;
-        } else if(state==7) {
+    } else if(state==6) {
+        displayData();
+        state++;
+    } else if(state==7) {
 //            state=0;
-            state++;
-            wait(2);
-        }
-        wait_us(10);
+        state++;
+        wait(2);
+    }
+    wait_us(10);
 
-    }
 }
+}