Diff: main.cpp

Revision:

6:0bee4b2bb400

Parent:

5:9c52e6c14c87

Child:

7:baf16d0c14e7

diff -r 9c52e6c14c87 -r 0bee4b2bb400 main.cpp
--- a/main.cpp	Wed Aug 30 03:44:00 2017 +0900
+++ b/main.cpp	Fri Sep 01 10:42:27 2017 +0900
@@ -1,6 +1,8 @@
 #include "mbed.h"
 #include "hayatoBoomerang.h"
 #include "recieveController.h"
+#include "omni.h"
+
 
 Serial rs485(PC_10,PC_11,38400);
 Serial serial(USBTX,USBRX);
@@ -11,9 +13,6 @@
 recieveController con(PA_0,PA_1,198);
 // Serial con(PA_0,PA_1,115200);
 
-typedef struct {
-  char data[4];
-} mail_t;
 
 void init()
 {
@@ -22,30 +21,59 @@
  serial.baud(115200);
   //boom.calibrateArm();
   boom.setTargetMotorSpeed(0);
-  boom.setTargetArmAngle(10);
+  boom.setTargetArmAngle(40);
 }
 void comm()
 {
   wait_ms(10);
 }
 
+void updater()
+{
+  boom.update();
+}
 
 int main() {
   init();
+  int angle = 5;
   char data[20],*data2,*data3;
   // commThread.start(&comm);
+  // ticker.attach(&updater,0.01);
   while(true)
   {
-    if(con.buttons[0] == 1024 )
+    if(con.buttons[0] == 0x1000 )
+      boom.fire();
+
+    if(con.buttons[0] == 0x1800 )
+    {
       boom.fire();
+      boom.setTargetMotorSpeed(8000);
+    }else if(con.buttons[0] == 0x800)
+      boom.setTargetMotorSpeed(8000);
+    else
+      boom.setTargetMotorSpeed(0);
+
+    if(con.buttons[0] == 0x80)
+      angle += 10;
+    if(con.buttons[0] == 0x100)
+      angle -= 10;
+
+    if(angle < 5){
+      angle = 5;
+    }
+    if(angle > 80 ){
+      angle = 80;
+    }
+
+    boom.setTargetArmAngle(angle);
+    led = boom.beltSpeed;
+    boom.move(con.buttons[1],con.buttons[2],con.buttons[3]);
     boom.update();
-    led = boom.beltSpeed;
-    wait_ms(50);
-    // printf("hi\n" );
+    printf("SPPED:%f\n",boom.armAngle);
+    wait_ms(20);
       /* code */
      con.update();
     // printf("whats up\n" );
-    serial.printf("circle:%d\n",con.buttons[0]);
 
   }