NagaokaRoboticsClub_mbedTeam / Mbed OS NHK2017_octopus2

Octopus!!

Dependencies:   2017NHKpin_config FEP HMC6352 PID QEI R1307 ikarashiMDC omni_wheel

Fork of KANIv3 by NagaokaRoboticsClub_mbedTeam

Diff: bot/bot.cpp

Revision:
36:c1398ea8f604
Parent:
35:4608938f67c5
Child:
37:6b6616008e78
--- a/bot/bot.cpp	Sat Oct 07 19:13:33 2017 +0900
+++ b/bot/bot.cpp	Mon Oct 09 09:22:44 2017 +0900
@@ -162,6 +162,17 @@
 void Bot::controllMech()
 {
     if(receiveSuccessed) {
+        if(!pad.getButton1(2)) {
+            debugSerial.printf("ROLL+\n\r");
+            armMotor[ROLL].setSpeed(1.0);
+        } else if(!pad.getButton1(4)) {
+            debugSerial.printf("ROLL-\n\r");
+            armMotor[ROLL].setSpeed(-1.0);
+        }
+        if(pad.getButton1(2) && pad.getButton1(4)) {
+            armMotor[ROLL].setSpeed(0.0);
+        }
+
         if(!pad.getButton1(0)) {
             debugSerial.printf("FUKUDA\n\r");
             armMotor[SWORD].setSpeed(0.6);