PS3 version
Dependencies: Motor_NIT_Nagaoka_College PID QEI SoftServo SoftPWM mbed DebounceIn
Fork of NHK2015 by
Diff: main.cpp
- Revision:
- 18:7703c9baf008
- Parent:
- 16:6b8766c77d29
diff -r 6b8766c77d29 -r 7703c9baf008 main.cpp --- a/main.cpp Mon Oct 05 12:02:38 2015 +0000 +++ b/main.cpp Fri Oct 09 07:25:39 2015 +0000 @@ -4,6 +4,7 @@ #include "PID.h" #include "QEI.h" #include "Servo.h" +#include "HBridge.h" #define RATE 0.05 #define shoottime 0.5 BusOut air(p5,p6); @@ -18,14 +19,15 @@ BusOut led(p8,p13,p14,p24); Motor ot(p23,p19,p20); QEI sensort(p29,p30,NC,624); -Motor sup1(p21,p15,p16); -Motor sup2(p22,p17,p18); +HBridge sup1(p21,p15,p16); +HBridge sup2(p22,p17,p18); DigitalIn limit1(p11,PullUp); DigitalIn limit2(p12,PullUp); Timeout ai; char read; int Rs = 0,Ls = 0,d=0,su1 = 0,su2 = 0; int i = 0; + void supply() { if(d%2){