NagaokaRoboticsClub_mbedTeam / Mbed 2 deprecated NHK2017_octopus

NHK2017 octopus robot

Dependencies:   2017NHKpin_config mbed FEP ikarashiMDC PID jy901 omni HMC6352 omni_wheel

Fork of KANI2017v2 by NagaokaRoboticsClub_mbedTeam

Diff: bot/PIDcontroller/PID_controller.cpp

Revision:
23:37bb9afe9fdc
Parent:
22:682cc376da6f
Child:
26:7258d5ad0bff
--- a/bot/PIDcontroller/PID_controller.cpp	Thu Sep 07 06:26:53 2017 +0000
+++ b/bot/PIDcontroller/PID_controller.cpp	Wed Sep 13 14:26:47 2017 +0900
@@ -23,7 +23,6 @@
     PID::setMode(AUTO_MODE);
     PID::setSetPoint(0.0);
 
-    //HMC6352::setOpMode(HMC6352_CONTINUOUS, 1, 20);
     rawDegree = JY901::getZaxisAngle();
     beforeDegree = rawDegree;
     planeOffSetDegree = rawDegree;
@@ -49,7 +48,7 @@
     PID::setMode(AUTO_MODE);
     PID::setSetPoint(0.0);
 
-    //HMC6352::setOpMode(HMC6352_CONTINUOUS, 1, 20);
+    rawDegree = JY901::getZaxisAngle();
     beforeDegree = rawDegree;
     planeOffSetDegree = rawDegree;
     axisOffSetDegree = rawDegree;
@@ -93,7 +92,12 @@
     turnOverNumber = 0;
 }
 
+void PIDC::renewAngle()
+{
+  angle = JY901::getZaxisAngle();
+}
+
 void PIDC::calibration(int mode)
 {
-    //setCalibrationMode(mode);
+
 }