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: hayatoBoomerang.cpp
- Revision:
- 20:d052a0679309
- Parent:
- 18:4b629221c215
--- a/hayatoBoomerang.cpp Sun Nov 05 09:35:20 2017 +0900 +++ b/hayatoBoomerang.cpp Mon Nov 06 18:54:45 2017 +0900 @@ -101,6 +101,7 @@ void boomerang::update() { + spiral->update(); armAngle = armEncoder->getPulses()/800.0*85.51; armPID->setProcessValue(armAngle); speedPID->setProcessValue(motorRPM); @@ -108,6 +109,7 @@ shootingMotor->setSpeed(speedPID->compute()); beltMotor->setSpeed(spiral->beltSpeed); spiralMotor->setSpeed(spiral->spiralSpeed); + //printf("%d %f\n",spiral->beltEncoder->getPulses(),spiral->beltSpeed); } bool boomerang::fire()