Diff: bot/bot.cpp

Revision:

37:6b6616008e78

Parent:

36:c1398ea8f604

Child:

39:07180d39a030

--- a/bot/bot.cpp	Mon Oct 09 09:22:44 2017 +0900
+++ b/bot/bot.cpp	Wed Oct 18 19:32:26 2017 +0900
@@ -8,10 +8,10 @@
     quadOmni(&RS485Controller, &RS485),
     slider(&RS485Controller, &RS485),
     armMotor({
-        ikarashiMDC({&RS485Controller, 1, 1, SM, &RS485}),
-        ikarashiMDC({&RS485Controller, 1, 2, SM, &RS485}),
-        ikarashiMDC({&RS485Controller, 1, 3, SM, &RS485})
-    }),
+            ikarashiMDC({&RS485Controller, 1, 1, SM, &RS485}),
+            ikarashiMDC({&RS485Controller, 1, 2, SM, &RS485}),
+            ikarashiMDC({&RS485Controller, 1, 3, SM, &RS485})
+            }),
     receiveSuccessed(0),
     frontDegree(0),
     led({DebugLED3, DebugLED4, DebugLED5}),
@@ -57,12 +57,12 @@
             plane.confirm();
         }
         quadOmni.moveXY(
-            pad.getStick(0),
-            -pad.getStick(1),
-            0,
-            0,
-            - pad.getStick(2) / 3.0 // PIDC::calculationResult
-        );
+                pad.getStick(0),
+                -pad.getStick(1),
+                0,
+                0,
+                - pad.getStick(2) / 3.0 // PIDC::calculationResult
+                );
     } else {
         quadOmni.moveXY(0, 0, 0);
     }
@@ -94,12 +94,12 @@
     if(receiveSuccessed) {
         led[1] = !led[1];
         quadOmni.moveCircular(
-            pad.getNorm(0),
-            pad.getRadian(0) - axis.getCurrentDegree() / 10.0 * (M_PI / 180.0) + M_PI,
-            0.5,
-            0.5,
-            -moment
-        );
+                pad.getNorm(0),
+                pad.getRadian(0) - axis.getCurrentDegree() / 10.0 * (M_PI / 180.0) + M_PI,
+                0.2,
+                0.2,
+                -moment
+                );
     } else {
         quadOmni.moveXY(0, 0, 0);
     }
@@ -135,24 +135,24 @@
             plane.confirm();
 
             quadOmni.moveXY(
-                pad.getStick(0),
-                -pad.getStick(1),
-                0.5,
-                0.5,
-                -plane.getCalculationResult()
-            );
+                    pad.getStick(0),
+                    -pad.getStick(1),
+                    0.5,
+                    0.5,
+                    -plane.getCalculationResult()
+                    );
         }
         if(mode == 2) {
             plane.setPoint(90.0 + frontDegree);
             plane.confirm();
 
             quadOmni.moveXY(
-                -pad.getStick(1),
-                -pad.getStick(0),
-                0.5,
-                0.5,
-                -plane.getCalculationResult()
-            );
+                    -pad.getStick(1),
+                    -pad.getStick(0),
+                    0.5,
+                    0.5,
+                    -plane.getCalculationResult()
+                    );
         }
     } else {
         quadOmni.moveXY(0, 0, 0);
@@ -175,7 +175,7 @@
 
         if(!pad.getButton1(0)) {
             debugSerial.printf("FUKUDA\n\r");
-            armMotor[SWORD].setSpeed(0.6);
+            armMotor[SWORD].setSpeed(1.0);
         }
         if(pad.getButton1(0)) armMotor[SWORD].setSpeed(0.0);
 
@@ -187,21 +187,21 @@
         } else {
             armMotor[DESTROY].setSpeed(0.0);
         }
-   } else {
-       slider.slide(0);
-       for(int i = 0; i < 3; i++) {
-           armMotor[i].setSpeed(0);
-       }
-   }
+    } else {
+        slider.slide(0);
+        for(int i = 0; i < 3; i++) {
+            armMotor[i].setSpeed(0);
+        }
+    }
 }
 
 
 void Bot::calibrate()
 {
     if(receiveSuccessed &&
-         !pad.getButton2(0) &&
-         !pad.getButton2(1)
-     ) {
+            !pad.getButton2(0) &&
+            !pad.getButton2(1)
+      ) {
         t.start();
         t.reset();
         plane.calibration(HMC6352_ENTER_CALIB);