Diff: main.cpp

Revision:

17:df95c0fb7b87

Parent:

16:85746e242e49

Child:

18:0184238dccc3

--- a/main.cpp	Wed Mar 21 15:55:23 2018 +0000
+++ b/main.cpp	Thu Mar 22 06:11:35 2018 +0000
@@ -60,6 +60,10 @@
 
 void messageCallback(const std_msgs::Int32 &msg)
 {
+    if(act!=9&&msg.data==9){
+        ready_action=1;
+        count=0;
+    }
     act=msg.data;
 }
 
@@ -135,6 +139,18 @@
         }
     else if (act==7) {
         fuck=1;
+        s_grab2=0;
+        wait(2);
+        ledw=1;
+        wait(1);
+        snap2=0;
+        wait(waittime); 
+        grab2=0;
+        wait(1);
+        ledw=0;
+        }
+    else if (act==8) {
+        fuck=1;
         s_grab=0;
         wait(2);
         ledw=1;
@@ -145,27 +161,15 @@
         wait(1);
         ledw=0;
         }
-    else if (act==8) {
+    else if (act==9) {
         fuck=1;
-        s_grab2=0;
+        s_grab=0;
         wait(2);
         ledw=1;
         wait(1);
-        snap2=0;
+        snap=0;
         wait(waittime); 
-        grab2=0;
-        wait(1);
-        ledw=0;
-        }
-    else if (act==9) {
-        fuck=1;
-        s_grab2=0;
-        wait(2);
-        ledw=1;
-        wait(1);
-        snap2=0;
-        wait(waittime); 
-        grab2=0;
+        grab=0;
         wait(1);
         ledw=0;
         }
@@ -205,7 +209,6 @@
     pub_act.data=0;
     pub_fin.data=0;
     pub_b.data=0;
-    int first_up=0;
     char cmd[2];
     char cell[1]= {0x03};
     char data[8]= {0,0,0,0,0,0,0,0};
@@ -336,11 +339,10 @@
     ///射出///
         if((act==2)&&(count==0)) {
             int f_i=0;
-            throw_cock(0.218); //TZ1
+            throw_cock(0.243); //TZ1
  
             ready_action=0;
             count=1;
-            first_up=0;
             pub_act.data=act;
             pub_action.publish(&pub_act);
             for(f_i=0;f_i<20;f_i++){
@@ -352,11 +354,10 @@
  
          if(((act==4)||(act==6))&&(count==0)) {
              int f_i=0;
-            throw_cock(0.218); //TZ2
+            throw_cock(0.243); //TZ2
  
             ready_action=0;
             count=1;
-            first_up=0;
             pub_act.data=act;
             pub_action.publish(&pub_act);
             for(f_i=0;f_i<20;f_i++){
@@ -368,11 +369,10 @@
         
          if(((act==7)||(act==8)||(act==9))&&(count==0))  {
             int f_i=0;
-            throw_cock(0.172); //TZ3
+            throw_cock(0.228); //TZ3
  
             ready_action=0;
             count=1;
-            first_up=0;
             pub_act.data=act;
             pub_action.publish(&pub_act);
             for(f_i=0;f_i<20;f_i++){