NagaokaRoboticsClub_mbedTeam / Mbed OS NHK2017_octopus2_drive

タコ　駆動側　

Dependencies:   2017NHKpin_config FEP R1307 PID ikarashiMDC omni_wheel

Fork of NHK2017_octopus2 by NagaokaRoboticsClub_mbedTeam

Diff: bot/bot.cpp

Branch:
noHMC
Revision:
40:e7fe8b2c1d21
Parent:
39:07180d39a030
--- a/bot/bot.cpp	Thu Oct 19 15:37:28 2017 +0900
+++ b/bot/bot.cpp	Sat Oct 21 14:30:28 2017 +0900
@@ -88,14 +88,15 @@
     if(pad.getStick(2) > 0.5 || pad.getStick(2) < -0.5) {
         moment = pad.getStick(2) / 2.0;
     } else  {
-        moment = plane.getCalculationResult();
+        //moment = plane.getCalculationResult();
+        moment = 0;
     }
 
     if(receiveSuccessed) {
         led[1] = !led[1];
         quadOmni.moveCircular(
                 pad.getNorm(0),
-                pad.getRadian(0) - axis.getCurrentDegree() / 10.0 * (M_PI / 180.0) + M_PI,
+                pad.getRadian(0),
                 0.0,
                 0.0,
                 -moment