NagaokaRoboticsClub_mbedTeam / Mbed OS hayatoShooter

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Dependencies:   PID QEI ikarashiMDC recieveController omni

Files at this revision

API Documentation at this revision

Revision 24:050d78bb5b69, committed 2017-11-22

Comitter:
WAT34
Date:
Wed Nov 22 18:10:49 2017 +0900
Parent:
22:d7c3bd1ce8f8
Child:
25:fd4fb86b4148
Commit message:
ps3 edition

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/main.cpp	Fri Nov 17 18:04:41 2017 +0900
+++ b/main.cpp	Wed Nov 22 18:10:49 2017 +0900
@@ -60,27 +60,27 @@
   while(true)
   {
     modeStatus = 15-modeChange.read();
-    if((con.buttons[0] >>9)%2 )
+    if((con.buttons[0] >>7)%2 )
     {
       boom.fire();
     }
 
-    if((con.buttons[0] >>10)%2)
+    if((con.buttons[0] >>8)%2)
       boom.setTargetMotorSpeed(flywheelspeed);
 
     else
       boom.setTargetMotorSpeed(0);
 
 
-    if((con.buttons[0]>>12)%2) //square
+    if((con.buttons[0]>>3)%2) //square
       angle = 80;
-    if((con.buttons[0]>>14)%2) //cross
+    if((con.buttons[0]>>4)%2) //cross
       angle = 45;
-    if((con.buttons[0]>>13)%2) //circle
+    if((con.buttons[0]>>5)%2) //circle
       angle = 25;
-    if((con.buttons[0]>>11)%2) //triangle
+    if((con.buttons[0]>>6)%2) //triangle
       angle = 10;
-    if((con.buttons[0]>>2)%2 )
+    if((con.buttons[0]>>13)%2 )
     {
       if(!prevSwing)
         fishingPole.toggleSwing();
@@ -88,13 +88,13 @@
     }else{
       prevSwing = false;
     }
-    if(con.buttons[4] < 117 )
+    if(con.buttons[3] < 117 )
     {
       if(!prevAnglechange)
         angle += 2.5;
       prevAnglechange =true;
     }else
-    if(con.buttons[4] > 137)
+    if(con.buttons[3] > 137)
     {
       if(!prevAnglechange)
         angle -= 2.5;
@@ -109,22 +109,22 @@
       angle = 90;
     }
 
-    if((con.buttons[3] >50))
-      turnRate = con.buttons[3]/500.0;
-    else if((con.buttons[6]/4080 > 50))
-      turnRate = -(con.buttons[6]/4080)/500.0;
+    if((con.buttons[0] >> 9)%2)
+      turnRate =-.2; //turn at .2 power
+    else if((con.buttons[0] >> 10)%2)
+      turnRate = .2;
     else
       turnRate = 0;
 
-    if((con.buttons[0]%2))
+    if((con.buttons[0]>>14%2))
       angling = -0.4;
-    else if((con.buttons[0]>>1)%2)
+    else if((con.buttons[0])%2)
       angling = 0.2;
     else
       angling = 0;
     fishingPole.setAnglingSpeed(angling);
 
-    if((con.buttons[0]>>8)%2)
+    if((con.buttons[0]>>15)%2)
       fishingPole.Deploy();
 
     update();