NagaokaRoboticsClub_mbedTeam / Mbed OS hayatoShooter

2017ロボコンはやとブーメランプログラム

Dependencies:   PID QEI ikarashiMDC recieveController omni

Diff: pinConfig.h

Revision:
6:0bee4b2bb400
Parent:
4:c2b09fa31492
Child:
13:d01356a29b93
--- a/pinConfig.h	Wed Aug 30 03:44:00 2017 +0900
+++ b/pinConfig.h	Fri Sep 01 10:42:27 2017 +0900
@@ -1,18 +1,18 @@
 #ifndef HAYATO_PINCONFIG_H
 #define HAYATO_PINCONFIG_H
 
-#define  SPEED_ENCODER NC
-#define ARM_ENCODER_A NC
-#define ARM_ENCODER_B NC
+#define  SPEED_ENCODER D5
+#define ARM_ENCODER_A D10
+#define ARM_ENCODER_B D11
 #define ARM_LIMIT NC
 
-#define SPEED_P 0
-#define SPEED_I 0
+#define SPEED_P 30
+#define SPEED_I 1.0e-100
 #define SPEED_D 0
 
-#define ARM_P 0
-#define ARM_I 0
-#define ARM_D 0
+#define ARM_P 2.5
+#define ARM_I 5.0e-100
+#define ARM_D 0.0000001
 
 #define RATE 0.01