Diff: main.cpp

Revision:

9:64fcbcc182d9

Parent:

8:b79d21c8178b

Child:

10:7c73e1577742

--- a/main.cpp	Tue Aug 27 08:54:15 2019 +0000
+++ b/main.cpp	Tue Aug 27 10:59:38 2019 +0000
@@ -147,6 +147,8 @@
                 //タオルつかむ 四角
                 if(grab_f || spull_f) {
                     PALETTE(GREEN);
+                    
+                    //真ん中で止まる用s
                     short_f=1;
                     switch(grab) {
                         //腕を前に動かす
@@ -156,7 +158,7 @@
 
                             if(back_f) MD_SET_DRIVE(MD_Data,4,MD_FORWARD);
                             else MD_SET_DRIVE(MD_Data,4,MD_REVERSE);
-                            MD_SET_PWM  (MD_Data,4,40);
+                            MD_SET_PWM  (MD_Data,4,60);
 
                             if(spull_f) {
                                 if(short_lim==1) {
@@ -180,7 +182,7 @@
 
                             //腕おろす
                             i2c.Out_Set(Out_Data,0,1);
-                            if(tim.read_ms()>300) {
+                            if(tim.read_ms()>200) {
                                 grab++;
                                 tim.reset();
                             }
@@ -189,7 +191,7 @@
                         case 2:
                             //爪閉じる
                             i2c.Out_Set(Out_Data,1,0);
-                            if(tim.read_ms()>100) {
+                            if(tim.read_ms()>0) {
                                 grab++;
                                 tim.reset();
                             }
@@ -198,7 +200,7 @@
                         case 3:
                             //腕上げる
                             i2c.Out_Set(Out_Data,0,0);
-                            if(tim.read_ms()>300) {
+                            if(tim.read_ms()>0) {
                                 grab++;
                                 tim.reset();
                             }
@@ -207,7 +209,7 @@
                         //腕戻す
                         case 4:
                             MD_SET_DRIVE(MD_Data,4,MD_FORWARD);
-                            MD_SET_PWM  (MD_Data,4,40);
+                            MD_SET_PWM  (MD_Data,4,60);
                             if(start_lim==1) {
                                 grab_f=0;
                                 spull_f=0;
@@ -228,7 +230,7 @@
                             i2c.Out_Set(Out_Data,1,0);
 
                             MD_SET_DRIVE(MD_Data,4,MD_REVERSE);
-                            MD_SET_PWM  (MD_Data,4,40);
+                            MD_SET_PWM  (MD_Data,4,60);
 
                             if(max_lim==1) {
                                 pull++;
@@ -244,14 +246,15 @@
 
                             //腕おろす
                             i2c.Out_Set(Out_Data,0,1);
-                            if(tim.read_ms()>300) {
+                            if(tim.read_ms()>100) {
                                 pull++;
                                 tim.reset();
                             }
                             break;
 
+                        //停止
                         case 2:
-                            if(tim.read_ms()>300) {
+                            if(tim.read_ms()>0) {
                                 pull++;
                                 tim.reset();
                             }
@@ -259,7 +262,7 @@
 
                         case 3:
                             MD_SET_DRIVE(MD_Data,4,MD_FORWARD);
-                            MD_SET_PWM  (MD_Data,4,40);
+                            MD_SET_PWM  (MD_Data,4,60);
                             if(start_lim==1) {
                                 pull_f=0;
                                 tim.reset();
@@ -279,7 +282,7 @@
                         //腕を前に動かす
                         case 0:
                             MD_SET_DRIVE(MD_Data,4,MD_REVERSE);
-                            MD_SET_PWM  (MD_Data,4,40);
+                            MD_SET_PWM  (MD_Data,4,60);
                             if(max_lim==1) {
                                 kago++;
                                 tim.reset();
@@ -293,7 +296,7 @@
 
                             //かご回転
                             MD_SET_DRIVE(MD_Data,6,MD_FORWARD);
-                            MD_SET_PWM  (MD_Data,6,80);
+                            MD_SET_PWM  (MD_Data,6,100);
                             if(slide_stop==1) {
                                 kago++;
                                 tim.reset();
@@ -311,13 +314,13 @@
 
                         case 3:
                             MD_SET_DRIVE(MD_Data,6,MD_REVERSE);
-                            MD_SET_PWM  (MD_Data,6,80);
+                            MD_SET_PWM  (MD_Data,6,100);
                             if(slide_start==1) kago++;
                             break;
 
                         case 4:
                             MD_SET_DRIVE(MD_Data,4,MD_FORWARD);
-                            MD_SET_PWM  (MD_Data,4,40);
+                            MD_SET_PWM  (MD_Data,4,60);
                             if(start_lim==1) {
                                 kago_f=0;
                                 tim.reset();
@@ -332,9 +335,18 @@
 
                     //腕真ん中で停止
                     if(short_f) {
-                        if(short_lim==1) short_f=0;
-                        MD_SET_DRIVE(MD_Data,4,MD_REVERSE);
-                        MD_SET_PWM  (MD_Data,4,20);
+                        if(short_lim==1) {
+                            short_f=0;
+                            back_f=0;
+                        }
+                        //奥のリミットに当たったら逆回転
+                        if(max_lim==1) back_f=1;
+                        //手前のリミットに当たったら正回転
+                        else if(start_lim==1) back_f=0;
+                        
+                        if(back_f) MD_SET_DRIVE(MD_Data,4,MD_FORWARD);
+                        else MD_SET_DRIVE(MD_Data,4,MD_REVERSE);
+                        MD_SET_PWM  (MD_Data,4,30);
                     } else {
                         MD_SET_DRIVE(MD_Data,4,MD_BRAKE);
                         MD_SET_PWM  (MD_Data,4,0);