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: hayatoBoomerang.cpp

Revision:
20:d052a0679309
Parent:
18:4b629221c215
diff -r 31784928ec2d -r d052a0679309 hayatoBoomerang.cpp
--- 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()