Diff: bot/bot.cpp

Branch:

develop1

Revision:

19:34da005ea4ea

Parent:

17:79fa65706f92

Child:

23:797d25f3df5e

Child:

24:593910fa1397

--- a/bot/bot.cpp	Thu Sep 28 17:32:01 2017 +0900
+++ b/bot/bot.cpp	Thu Sep 28 20:37:09 2017 +0900
@@ -131,8 +131,8 @@
             PIDC::confirm();
 
             quadOmni.moveXY(
-                pad.getStick(0),
                 -pad.getStick(1),
+                -pad.getStick(0),
                 -PIDC::calculationResult
             );
         }
@@ -149,9 +149,7 @@
         }
         if(pad.getButton1(6)) armMotor[SWORD].setSpeed(0.0);
 
-        if(!pad.getButton1(3)) slider.slide(1.0);
-        if(!pad.getButton1(4)) slider.slide(-1.0);
-        if(pad.getButton1(3) && pad.getButton1(4)) slider.slide(0.0);
+        slider.slide(pad.getStick(3));
 
         if(!pad.getButton2(1)) {
             armMotor[DESTROY].setSpeed(-1.0);
@@ -173,9 +171,17 @@
          !pad.getButton2(0) &&
          !pad.getButton2(1)
      ) {
+        t.start();
+        t.reset();
         PIDC::calibration(HMC6352_ENTER_CALIB);
-        quadOmni.moveXY(0, 0, 0.4);
-        wait(5.0);
+        while(t.read() < 5.0) {
+            quadOmni.moveXY(0, 0, 0.4);
+            slider.slide(0);
+            for(int i = 0; i < 3; i++) {
+                armMotor[i].setSpeed(0);
+            }
+        }
+        t.stop();
         quadOmni.moveXY(0, 0, 0);
         PIDC::calibration(HMC6352_EXIT_CALIB);
     }