taiki abe / 2017_CatchRobo_f103rb

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Dependencies:  

Fork of 2017_CatchRobo_f103rb by taiki abe

Diff: 2017_CatchRobo_f103rb.cpp

Revision:
8:f0f551fa29d4
Parent:
7:06a366a57be8
--- a/2017_CatchRobo_f103rb.cpp	Fri Aug 18 20:07:37 2017 +0000
+++ b/2017_CatchRobo_f103rb.cpp	Tue Aug 22 12:50:03 2017 +0000
@@ -19,9 +19,9 @@
 
 
 //センサー類
-rotary_encoder enco1(PC_0,PC_3,NC,500,rotary_encoder::X4_ENCODING);
-rotary_encoder enco2(PA_13,PA_14,NC,500,rotary_encoder::X4_ENCODING);
-rotary_encoder enco3(PD_2,PC_15,NC,500,rotary_encoder::X4_ENCODING);
+rotary_encoder enco1(PA_13,PA_14,NC,500,rotary_encoder::X4_ENCODING);
+rotary_encoder enco2(PC_0,PC_3,NC,500,rotary_encoder::X4_ENCODING);
+rotary_encoder enco3(PC_15,PD_2,NC,500,rotary_encoder::X4_ENCODING);
 
 //アクチュエータ類
 dc_motor_1 motor1(A3,A2,1);     //tiemr_3_3
@@ -51,6 +51,11 @@
 
 int main()
 {
+    float init_deg1 = 180.0;
+    float init_deg2 = 0.0;
+    float deg1 = 180.0;
+    float deg2 = 0.0;
+    
     pc.baud(9600);
     can = new CAN(PA_11,PA_12);
     can -> frequency(1000000);
@@ -87,7 +92,7 @@
                 servo1.weak_condition();
             }
             else if( ps3.getbutton(right)==1){
-                servo1.rot(270.0);
+                servo1.rot(0.0);
             }
             else if( ps3.getbutton(L1)==1){
                 buzzer.write(1);
@@ -117,7 +122,7 @@
                 LED[2].write(0);
                 LED[0].write(0);
                 buzzer.write(0);
-                servo1.rot(135.0);
+                servo1.rot(265.0);
                 motor1.drive(0.0);
                 motor2.drive(0.0);
                 motor3.drive(0.0);