Diff: Master.cpp

Revision:

2:9d9681465f4a

Parent:

1:60319e61775d

Child:

3:9b1aefdd251a

diff -r 60319e61775d -r 9d9681465f4a Master.cpp
--- a/Master.cpp	Tue Jun 14 05:01:15 2022 +0000
+++ b/Master.cpp	Wed Jun 15 09:32:21 2022 +0000
@@ -5,6 +5,10 @@
       ,shot(kicker)
       ,drib(ESCpin)
 {
+    omni.wheel[0].setRadian(PI * 1.0 / 4.0);
+    omni.wheel[1].setRadian(PI * 3.0 / 4.0);
+    omni.wheel[2].setRadian(PI * 5.0 / 4.0);
+    omni.wheel[3].setRadian(PI * 7.0 / 4.0);
     motor[0] = new KohiMD(Pin_motor_0);
     motor[1] = new KohiMD(Pin_motor_1);
     motor[2] = new KohiMD(Pin_motor_2);
@@ -31,23 +35,22 @@
         } else {
             pwm = 0;
         }
-//        md[i].setSpeed(pwm);
-        SetValueMotor(i, 0.2);
+        SetValueMotor(i, pwm);
     }
     if (button[2]) Shot();
     if (button[3]) Dribble(0.6);
 }
-    
+
 void Master::Shot()
 {
     shot.outPut();
 }
-    
+
 void Master::Dribble(float power)
 {
     drib.setspeed(power);
 }
-    
+
 void Master::SetValueMotor(int num, double val)
 {
     motor[num]->setSpeed(val);