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: Spiral.cpp

Revision:
18:4b629221c215
Parent:
17:311aed3cad15
Child:
20:d052a0679309
Child:
21:aad4a4adc18c
Child:
22:d7c3bd1ce8f8
--- a/Spiral.cpp	Sun Oct 15 13:42:12 2017 +0900
+++ b/Spiral.cpp	Thu Nov 02 20:40:13 2017 +0900
@@ -17,8 +17,8 @@
 {
   if(rotating)
     return 1;
-  spiralSpeed=0.4;
-  spiralMotor->setSpeed(0.4);
+  spiralSpeed=1;
+  spiralMotor->setSpeed(1);
   rotating = true;
   firing = true;
   return false;
@@ -29,11 +29,15 @@
   if (!rotating)return;
   spiralSpeed=0;
   spiralMotor->setSpeed(0);
-  beltSpeed=-0.8;
   rotating = false;
-  beltTime.attach(callback(this,&Spiral::beltStop),0.6);
+  beltTime.attach(callback(this,&Spiral::beltStart),0.1);
 }
 
+void Spiral::beltStart()
+{
+  beltSpeed=-1;
+  beltTime.attach(callback(this,&Spiral::beltStop),0.1);
+}
 void Spiral::beltStop(){
   beltSpeed=0;
   firing = false;