Diff: main.cpp

Revision:

4:58a2afff53a4

Parent:

3:f462b1244d77

Child:

5:79cc2a126504

--- a/main.cpp	Thu Sep 27 09:25:21 2018 +0000
+++ b/main.cpp	Mon Oct 01 08:21:32 2018 +0000
@@ -88,6 +88,7 @@
 int mode = true;
 int table;
 double looptime;
+float timer1 = 0;
 
 //プロトタイプ宣言
 //メイン制御関数
@@ -126,20 +127,17 @@
     pc.printf("\x1b[0m");
     while(true) {
         looptime = mainloop.read();
-        pc.printf("%3d,%3d,%f,%d\n\r",front_roller_rpm, back_roller_rpm, looptime, sonicval);
         mainloop.reset();
         mainloop.start();
-        roller_PID(777,655);
-        //front_roller_data[0] = 0x80;
-        //back_roller_data[0] = 0x80;
-        i2c.write(0x18, front_roller_data, 1, false);
-        i2c.write(0x20, back_roller_data,  1, false);
+        //roller_PID(777,655);
+        //i2c.write(0x18, front_roller_data, 1, false);
+        //i2c.write(0x20, back_roller_data,  1, false);
         topsonic.start();
         wait(0.01);
         sonicval = topsonic.get_dist_cm();
-        //ps3s.getdata();
-        //ps3s.checkdata();
-        //ctrl();
+        ps3s.getdata();
+        ps3s.checkdata();
+        ctrl();
         //printdata();
         mainloop.stop();
     }
@@ -418,6 +416,7 @@
     //平均値をRPMへ変換
     front_roller_rpm = ave_front_roller_pulse * 25 * 60 / 1200;
     back_roller_rpm  = ave_back_roller_pulse  * 25 * 60 / 1200;
+    pc.printf("%3d,%3d,%f\n\r",abs(front_roller_rpm), abs(back_roller_rpm), sonicval);
 }
 
 //ローラー
@@ -447,46 +446,24 @@
 //投擲動作
 void shoot()
 {
-    int time;
-    int front;
-    int back;
-    if(table == 0) {
-        front = 666;
-        back = 666;
-    } else if(table == 1) {
-        front = 777;
-        back = 777;
-    }
+    shootpet.start();
     while(true) {
-        shootpet.start();
-        roller_PID(front,back);
-        i2c.write(0x18, front_roller_data, 1, false);
-        i2c.write(0x20, back_roller_data,  1, false);
-        if(shootpet.read() == 10) {
+        timer1 = shootpet.read();
+        if(timer1 > 10) {
             break;
         }
+        roller_PID(1000,1000);
+        //i2c.write(0x18, front_roller_data, 1, false);
+        i2c.write(0x20, back_roller_data,  1, false);
     }
+    back_roller_data[0] = 0x80;
+    i2c.write(0x20, back_roller_data,1,false);
     shootpet.stop();
     shootpet.reset();
-    shootpet.start();
-    while(true) {
-        time = shootpet.read();
-        if(time <= 0.5) {
-            send_data2[0] = 0x0F;
-            i2c.write(0x40, send_data2, 1);
-        } else {
-            send_data2[0] = 0x80;
-            i2c.write(0x40, send_data2, 1);
-            i2c.write(0x18, send_data2, 1, false);
-            i2c.write(0x20, send_data2, 1, false);
-            shootpet.stop();
-            shootpet.reset();
-            break;
-        }
-    }
 }
 
 
+
 //セミオートプレイテスト
 
 void semiauto()