NagaokaRoboticsClub_mbedTeam / Mbed 2 deprecated 2021_NHK_A

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Dependencies:   mbed QEI　led beep softPWM Servo_softpwm IR2302 lpf

Files at this revision

API Documentation at this revision

Revision 23:3f5bb0ae21b9, committed 2021-10-19

Comitter:
THtakahiro702286
Date:
Tue Oct 19 08:11:00 2021 +0000
Parent:
22:efa233983e1f
Child:
24:952a01c8baee
Commit message:
AKP-lope no jump

Changed in this revision

control_parameter.h Show annotated file Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/control_parameter.h	Tue Oct 19 06:12:07 2021 +0000
+++ b/control_parameter.h	Tue Oct 19 08:11:00 2021 +0000
@@ -10,7 +10,7 @@
 #define FURIKO_STOP_LINE    62
 #define SET_WAIT            0.15   //ロリコン依存で振り切った後の待ち時間
 #define SWINGLINE           5  //setからswingに移行するための加速度の大きさ
-#define JUMPLINE            80  //飛ぶために必要そうな最高加速度
+#define JUMPLINE            -67  //飛ぶために必要そうなエンコーダーのタイミング
 #define RELEASELINE         70  //離す瞬間のZ軸の加速度、重力に逆らうので98より小さくなるはず
 
 #define PI  3.14159265358979    //梅沢追加　円周率の定義

--- a/main.cpp	Tue Oct 19 06:12:07 2021 +0000
+++ b/main.cpp	Tue Oct 19 08:11:00 2021 +0000
@@ -56,8 +56,8 @@
     float motor;
     
     for(int i=0;i < 3; i++)servo[i].calibrate(0.00095, 90);
-    for(i=0;i<3;i++) servo[i].write(1.0);
-    for(i=0; i<3; i++) servoAngle[i] = 1.0;
+    for(i=0;i<3;i++) servo[i].write(0.75);
+    for(i=0; i<3; i++) servoAngle[i] = 0.75;
 
     wait(5);
     
@@ -193,18 +193,18 @@
                 mainWait.start();
                 setWait.start();
                 swingFlag = 0;
-                if((jumpWait > 15) && (way==1))
-                {
-                    flyFlag = 1;
-                    mainFlag = 0;
-                }
             }
-            if(setWait > 0.35)
+            if(setWait > 0.25)
             {
                 setWait.stop();
                 setWait.reset();
                 swingFlag = 1;
             }
+            if((jumpWait > 18) && (nowPalse < JUMPLINE))
+            {
+//                flyFlag = 1;
+//                mainFlag = 0;
+            }
         }
         
         if(flyFlag)