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:
- 13:c24276edffea
- Parent:
- 12:f4001aa2c13f
- Child:
- 14:2ec40952860a
diff -r f4001aa2c13f -r c24276edffea main.cpp --- a/main.cpp Wed Oct 12 13:00:49 2022 +0000 +++ b/main.cpp Thu Oct 13 11:24:28 2022 +0000 @@ -12,7 +12,7 @@ #include "cmath" #define PI 3.141592653589 -#define maxSpeed 0.4 +#define maxSpeed 0.35 DigitalIn userButton(USER_BUTTON); AnalogIn VOLUME(A0); @@ -224,10 +224,10 @@ } /*展開昇降*/ if(b[5]){ //down - speed[4] = 0.5; + speed[4] = 0.6; // speed[5] = 0.5; }else if(b[4]){ //up - speed[4] = -0.4; + speed[4] = -0.6; // speed[5] = -0.4; }else if(b[6]){ speed[4] = -0.4;//片側up @@ -243,16 +243,16 @@ } //機構昇降 if(b[9]){ - speed[8] = -0.5; + speed[8] = -0.3; //left up }else if(b[13]){ speed[8] = 0.5; } if(b[11]){ - speed[9] = -0.4; + speed[9] = -0.3; //right up }else if(b[14]){ - speed[9] = 0.4; + speed[9] = 0.5; } if((b[9]!=1) && (b[13]!=1)){ speed[8]=0;