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:
- 13:d01356a29b93
- Parent:
- 12:9d21189a8eb0
- Child:
- 14:5cc44bec9cfc
diff -r 9d21189a8eb0 -r d01356a29b93 hayatoBoomerang.cpp --- 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()