NagaokaRoboticsClub_mbedTeam / Mbed OS 2022NHK_A_main

NHK2022Aチームの足回りと機構のセット　メインプログラム

Dependencies:   FEP_RX22 OmniPosition PID R1370 ikarashiMDC_2byte_ver omni_wheel SerialMultiByte Servo

Diff: main.cpp

Revision:
11:d31190384f49
Parent:
10:533014972963
Child:
12:f4001aa2c13f
--- a/main.cpp	Wed Oct 12 06:50:18 2022 +0000
+++ b/main.cpp	Wed Oct 12 07:43:39 2022 +0000
@@ -212,13 +212,16 @@
         
         /*フジモン機構*/
         if(toggle[2]){
-            speed[6] = 0.6;
-            speed[7] = 0.6;   
+            speed[6] = -0.3;//sita
+            speed[7] = 0.5;//ue 
         }else{
             speed[6] = 0;
             speed[7] = 0;            
         }
-        
+        if(toggle[2] && b[15]){
+            speed[6] = 0.3;
+            speed[7] = -0.3;
+        }
         /*展開昇降*/
         if(b[5] != 0){
             speed[4] = 0.5;