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

Files at this revision

API Documentation at this revision

Revision 25:fd4fb86b4148, committed 2017-12-01

Comitter:
WAT34
Date:
Fri Dec 01 18:16:33 2017 +0900
Parent:
24:050d78bb5b69
Commit message:
hopee it workks

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file
pinConfig.h Show annotated file Show diff for this revision Revisions of this file 
--- a/main.cpp	Wed Nov 22 18:10:49 2017 +0900
+++ b/main.cpp	Fri Dec 01 18:16:33 2017 +0900
@@ -75,7 +75,7 @@
     if((con.buttons[0]>>3)%2) //square
       angle = 80;
     if((con.buttons[0]>>4)%2) //cross
-      angle = 45;
+      angle = 37.5;
     if((con.buttons[0]>>5)%2) //circle
       angle = 25;
     if((con.buttons[0]>>6)%2) //triangle
@@ -116,10 +116,10 @@
     else
       turnRate = 0;
 
-    if((con.buttons[0]>>14%2))
-      angling = -0.4;
-    else if((con.buttons[0])%2)
-      angling = 0.2;
+    if((con.buttons[0]>>12)%2)
+      angling = -0.2;
+    else if((con.buttons[0]>>14)%2)
+      angling = 0.4;
     else
       angling = 0;
     fishingPole.setAnglingSpeed(angling);

--- a/pinConfig.h	Wed Nov 22 18:10:49 2017 +0900
+++ b/pinConfig.h	Fri Dec 01 18:16:33 2017 +0900
@@ -12,7 +12,7 @@
 
 #define ARM_P 2.5
 #define ARM_I 5.0e-100
-#define ARM_D 0.0000001
+#define ARM_D 0.000001
 
 #define RATE 0.01