Diff: User.cpp

Revision:

23:0c6bc29c8f86

Parent:

22:f0e17f3129cc

Child:

24:674b011da45b

--- a/User.cpp	Fri Mar 13 08:15:38 2020 +0000
+++ b/User.cpp	Fri Mar 13 08:23:05 2020 +0000
@@ -38,7 +38,8 @@
 int id = 0;
 int id2 = 1;
 double SERVO2DEG = 270.0 / (11500 - 3500);
-double first = (6800 - 3500) * SERVO2DEG;
+double first_ball = (6800 - 3500) * SERVO2DEG;
+double first_box = (X - 3500) * SERVO2DEG;  //X haven't be decided
 double grab_ball = (3600 - 3500) * SERVO2DEG;
 double pass = (5000 - 3500) * SERVO2DEG;
 double grab_box = (3550 - 3500) * SERVO2DEG;
@@ -233,24 +234,24 @@
     switch (ball) {
         case 1: //ball servo
             if(ball_count ==0) {
-                servo.set_degree(id, first);
+                servo.set_degree(id, first_ball);
                 wait(0.5);
-                shoot =0;
-                ball = 1;
+                ball_count =1;
+                ball = 0;
             } else if(ball_count ==1) {
                 servo.set_degree(id, grab_ball);
                 wait(0.5);
-                shoot = 0;
+                ball_count = 0;
                 ball =0;
             }
             break;
         case 2://ball air
             if (out1==0) {
                 out1=1;
-                shoot=0;
+                ball=0;
             } else if (out1 == 1) {
                 out1=0;
-                shoot=0;
+                ball=0;
             }
     }
 }
@@ -260,24 +261,23 @@
     switch(box) {
         case 1:// box servo
             if(box_count ==0) {
-                servo.set_degree(id2, first);
+                servo.set_degree(id2, first_box);
                 wait(0.5);
-                shoot =0;
-                ball = 1;
+                box_count =1;
+                box = 1;
             } else if(box_count ==1) {
                 servo.set_degree(id2, grab_box);
                 wait(0.5);
-                shoot = 0;
-                ball =0;
+                box_count = 0;
+                box =0;
             }
         case 2: //box air
             if (out3==0) {
                 out3=1;
-                shoot = 0;
+                box = 0;
             } else if (out3 == 1) {
                 out3=0;
-                shoot = 0;
+                box = 0;
             }
     }
-
 }
\ No newline at end of file