Diff: main.cpp

Revision:

2:fe26901d9d49

Parent:

1:d3985e5af20f

Child:

3:ccd2dd7d3814

--- a/main.cpp	Fri Mar 11 00:45:18 2022 +0000
+++ b/main.cpp	Sat Mar 12 01:21:35 2022 +0000
@@ -7,7 +7,7 @@
 DigitalIn limitA(PB_6,PullUp);
 DigitalIn limitB(PB_12,PullUp);
 Air catch_no(PA_9);
-//Air catch_no2(PA_7);
+Air catch_no2(PA_7);
 //Air catch_no3(PA_6);
 
 DigitalIn limitC(PB_4,PullUp);
@@ -18,6 +18,8 @@
 bool limit_switch = true;
 int date=0;
 int air_date=0;
+int air_date2=0;
+int a=0;
 
 
 void driveMotorS2(double pwm){
@@ -41,21 +43,20 @@
     if(data==0){
     myservo = 0;
     }else{
-    myservo = 0.2;
+    myservo = 0.5;
     }
 }
 //↓発射用
-int a=0;
 bool Hassya(int rx_data,int &tx_data){
-    if(rx_data==1 /*&& a==1*/){
+    if(rx_data==1 && a==1){
         tim=timer.read_ms();
         a=0;        
     }
-    if(a==1 && !limitA==0){
-        hassya.move(0);
-        driveMotorS2(0);
-        Servo(0);
-        a=1;
+    if(a==1 || !limitC==0){
+            hassya.move(0);
+            driveMotorS2(0);
+            Servo(0);
+            a=1;
     }else if(timer.read_ms()-tim<5000){
             hassya.move(0);
             driveMotorS2(0);
@@ -64,11 +65,11 @@
             hassya.move(1);
             driveMotorS2(0);
             Servo(0);
-    }else if(timer.read_ms()-tim>6000 && !limitA==1){
+    }else if(timer.read_ms()-tim>6000 && !limitC==1){
             hassya.move(1);
             driveMotorS2(-0.06);
             Servo(0);
-    }else {
+    }else{
             hassya.move(0);
             driveMotorS2(0);
             Servo(0);
@@ -104,9 +105,9 @@
     date=-1    ;
     }
     if(date==1 && !limitA){
-        driveMotorS(0.6);
+        driveMotorS(0.4);
     }else if(date==-1 && !limitB){
-        driveMotorS(-0.6);
+        driveMotorS(-0.4);
     }else{
         driveMotorS(0);
     }
@@ -116,15 +117,16 @@
 bool CATCH_NO(int rx_data,int &tx_data){
     if(tx_data==1){
         air_date+=1;    
-    }else if(tx_data==2&&air_date==0){
+    }else if(tx_data==2&&(air_date%2)==0){
         air_date=1;    
     }
     catch_no.move(air_date%2);
     return true;
-    }
+}
 
 bool CATCH_NO2(int rx_data,int &tx_data){
-    //catch_no2.move(rx_data);
+    air_date+=tx_data;
+    catch_no2.move(air_date%2);
     //catch_no3.move(rx_data);
     return true;
     }