Diff: hayatoBoomerang.cpp

Revision:

13:d01356a29b93

Parent:

12:9d21189a8eb0

Child:

14:5cc44bec9cfc

--- a/hayatoBoomerang.cpp	Wed Sep 13 22:58:42 2017 +0700
+++ b/hayatoBoomerang.cpp	Thu Oct 05 16:04:46 2017 +0900
@@ -13,7 +13,7 @@
 
   speedPID = new PID(SPEED_P,SPEED_I,SPEED_D,RATE);
   armPID = new PID(ARM_P,ARM_I,ARM_D,RATE);
-  speedPID->setInputLimits(0.0,9000.0);
+  speedPID->setInputLimits(0.0,15000.0);
   speedPID->setOutputLimits(0,1.0);
 
   armPID->setInputLimits(5,80);
@@ -37,6 +37,7 @@
   omniMotor[1] = new ikarashiMDC(rscs,1,1,SM,serial_);
   omniMotor[2] = new ikarashiMDC(rscs,1,2,SM,serial_);
   omniMotor[3] = new ikarashiMDC(rscs,1,3,SM,serial_);
+
   omniMotor[0]->braking=true;
   omniMotor[1]->braking=true;
   omniMotor[2]->braking=true;
@@ -46,6 +47,10 @@
   shootingMotor->setSpeed(0);
   spiralMotor->setSpeed(0);
   beltMotor->setSpeed(0);
+  omniMotor[0]->setSpeed(0);
+  omniMotor[1]->setSpeed(0);
+  omniMotor[2]->setSpeed(0);
+  omniMotor[3]->setSpeed(0);
 
   spiral = new Spiral(spiralMotor);
 
@@ -65,7 +70,7 @@
 
 void boomerang::move(const uint8_t& x,const uint8_t& y,const uint8_t& moment)
 {
-    omni->computeXY((y-127)/127.0,(x-127)/127.0,moment);
+    omni->computeXY((y-127)/130.0,(x-127)/130.0,moment);
     for (size_t i = 0; i < 4; i++) {
       omniMotor[i]->setSpeed((omni->getOutput(i)-127)/127.0);
     }
@@ -97,6 +102,7 @@
     armMotor->setSpeed(armPID->compute());
   shootingMotor->setSpeed(speedPID->compute());
   beltMotor->setSpeed(beltSpeed);
+
 }
 
 bool boomerang::fire()