ROBOSTEP4期 / Mbed 2 deprecated NHK_kaida_ros0329

射出(3/29用)

Dependencies:   mbed ros_lib_kinetic

Fork of NHK_kaida_ros0322_4 by ROBOSTEP4期

Diff: main.cpp

Revision:
4:29bf39bd97a7
Parent:
3:2184f6f5c8e3
Child:
5:4f1f0294d6aa
--- a/main.cpp	Thu Sep 21 15:07:25 2017 +0000
+++ b/main.cpp	Thu Sep 21 15:16:32 2017 +0000
@@ -38,13 +38,13 @@
             grab = 0;
             k_action++;
             led_on(1,0,0,0);
-        }
+            wait(5);       
 
-        else  if((*(action.data)== 'o')&&(o_action==0)) {
             grab = 1;
             o_action++;
             led_on(0,1,0,0);
         }
+        
 
         else if((*(action.data)=='m')&&(m_action==0)) {
             led_on(1,1,0,0);
@@ -53,6 +53,8 @@
             //pc.printf("a\n");
             wait(0.195);             //TZ1:0.18 TZ2:0.18 TZ3:0.167,0.168 椅子(高度45[cm]):0.195
             grab = 1;
+            wait(3);
+            snap=1;
 
         }
         //一連の動作が終了したかを判断する。