7th_DENSOU / Mbed 2 deprecated NHK_CenterArm_new

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Dependencies:   mbed CalPID motorout ros_lib_melodic MotorController_AbsEC

Files at this revision

API Documentation at this revision

Revision 14:74fc05dd846d, committed 2021-08-03

Comitter:
ayu13
Date:
Tue Aug 03 10:04:15 2021 +0000
Parent:
13:cf6503ad0954
Commit message:
center_arm

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/main.cpp	Tue Aug 03 09:36:20 2021 +0000
+++ b/main.cpp	Tue Aug 03 10:04:15 2021 +0000
@@ -92,13 +92,7 @@
     while (1) {
         nh.spinOnce();      //ROS
 
-        if(catch_mode == 1) {
-            servo_c.set_degree(0,servoDeg(deg_c_open)); //servo_c離す
-            myled1 = 1;
-        } else if(catch_mode == 2) {
-            servo_c.set_degree(0,servoDeg(deg_c_grab));   //servo_c掴む
-            myled2 = 1;
-        }
+
 
         if(timer.read()>DELTA_T) {
 //            if(arm_turn==2&&arm_deg==-10) {       //動作確認(通信)用
@@ -108,15 +102,23 @@
             target_deg = arm_deg;
             target_rad = arm_rad;
 
-            if(state == 0) {        //トグルスイッチONでstate=1へ．
-                ///トグルスイッチ1////マイコン方向
-                if(toggle1 == 0) {  //トグルスイッチ1(mbed側)ONで初start
-                    wait_us(50);
-                    if(toggle1 == 0) {
-                        state++;
-                    }
-                }
+            if(catch_mode == 1) {
+                servo_c.set_degree(0,servoDeg(deg_c_open)); //servo_c離す
+                myled1 = 1;
+            } else if(catch_mode == 2) {
+                servo_c.set_degree(0,servoDeg(deg_c_grab));   //servo_c掴む
+                myled2 = 1;
             }
+
+//            if(state == 0) {        //トグルスイッチONでstate=1へ．
+            ///トグルスイッチ1////マイコン方向
+//                if(toggle1 == 0) {  //トグルスイッチ1(mbed側)ONで初start
+//                    wait_us(50);
+//                    if(toggle1 == 0) {
+//                        state++;
+//                    }
+//                }
+//            }
             if(state == 1) {        //回転方向の変数"arm_turn"に1か2が代入されたらstate=2へ．
                 if(arm_turn == 1) {
                     turn_deg = 90;
@@ -152,9 +154,9 @@
                     target_deg = -45;
                     target_rad = degToRad(target_deg);
                 }
-                if(mode!=mode_buf) {
-                    state++;
-                }
+//                if(mode!=mode_buf) {
+                state++;
+//                }
             } else if (state == 5) {//目標角度に近づいたら停止する
                 if(fabs(now_deg-target_deg) > 0.5) {        //現在角度と目標角度が0.5°以上離れている間回す
                     myled1 = 1; //LED1 点灯