Diff: User.cpp

Revision:

21:0f12ee2322e4

Parent:

20:dd4634500bb3

Child:

22:f0e17f3129cc

--- a/User.cpp	Thu Mar 12 03:04:51 2020 +0000
+++ b/User.cpp	Thu Mar 12 07:32:03 2020 +0000
@@ -14,29 +14,34 @@
 //Digitalout cs(p8);
 int move=5,shoot=0,ball=0,box=0;
 CAN controller(p30,p29);//CANpin_name
+
 DigitalOut led1(LED1);
 DigitalOut led2(LED2);
 DigitalOut led3(LED3);
 DigitalOut led4(LED4);
 char can[1]= {0};
+
 KondoServo servo(p28,p27);//サーボ
-int out = 1; // shot
-
 
 PwmOut f(p26);//投F
 PwmOut b(p25);//投B
+
 Ticker ticker;
+
 Ec1multi EC(p16,p17,RESOLUTION);//投E
 InterruptIn X(p15);
+
 DigitalOut out1(p19);//エアシリンダー（つかむ方）
 DigitalOut out2(p20);//エアシリンダー（投擲）
-
+DigitalOut out3(p18);//エアシリンダー（ボックス）
 
 int id = 0;
+int id2 = 1;
 double SERVO2DEG = 270.0 / (11500 - 3500);
 double first = (6800 - 3500) * SERVO2DEG;
 double grab = (3600 - 3500) * SERVO2DEG;
 double pass = (5000 - 3500) * SERVO2DEG;
+double grab2 = (3550 - 3500) * SERVO2DEG;
 
 void cal()
 {
@@ -239,10 +244,7 @@
             }
             break;
         case 3:
-            f=0.01;
-            wait (0.1);
-            f=0;
-            shoot = 0;
+            servo.set_degree(id2, grab2);
             break;
         case 4:
             if (out1==0) {
@@ -254,14 +256,11 @@
             }
             break;
         case 5:
-            if (out2==0) {
-                out2=1;
-                shoot=0;
-            } else if (out2 == 1) {
-                out2=0;
-                shoot=0;
+            if (out3==0) {
+                out3=1;
+            } else if (out3 == 1) {
+                out3=0;
             }
-
     }
 }