kusano kiyoshige / Mbed 2 deprecated 17robo_fuzi

ライブラリ化を行った後

Dependencies:   QEI accelerator bit_test cyclic_io cyclic_var cylinder event_var limit mbed mecanum motor_drive pid pid_encoder rs422_put sbdbt servo

Fork of 17robo_Practice1 by kusano kiyoshige

main.cpp@50:e4e1f38d1bd5, 2017-09-13 (annotated)

Committer:
echo_piyo
Date:
Wed Sep 13 02:17:38 2017 +0000
Revision:
50:e4e1f38d1bd5
Parent:
49:b041c815c063
Child:
51:70d45b959d6b
(??)?????????????????(????????)???????????????????riseEvent??????????Class????varEvent(.input(int state), .getRiseEvent(), .getFallE...

Who changed what in which revision?

UserRevisionLine numberNew contents of line
echo_piyo 0:bf96e953cdb8 1 #include "mbed.h"
echo_piyo 4:a6cc2f03e69b 2 #include "math.h"
echo_piyo 0:bf96e953cdb8 3 #include "bit_test.h"
echo_piyo 0:bf96e953cdb8 4 #include "RS422_put.h"
echo_piyo 0:bf96e953cdb8 5 #include "sbdbt.h"
echo_piyo 0:bf96e953cdb8 6 #include "mecanum.h"
echo_piyo 0:bf96e953cdb8 7 #include "bno055_lib.h"
echo_piyo 0:bf96e953cdb8 8 #include "bno055_use.h"
echo_piyo 0:bf96e953cdb8 9 #include "pid.h"
echo_piyo 0:bf96e953cdb8 10 #include "limit.h"
echo_piyo 4:a6cc2f03e69b 11 #include "accelerator.h"
echo_piyo 10:04f2a82cfd89 12 #include "encorder.h"
echo_piyo 14:aac2f18f6779 13 #include "cyclic.h"
echo_piyo 14:aac2f18f6779 14 #include "cyclic_IO.h"
echo_piyo 15:0fdf483769bf 15 #include "cylinder.h"
echo_piyo 50:e4e1f38d1bd5 16 #include "varEvent.h"
echo_piyo 0:bf96e953cdb8 17
echo_piyo 0:bf96e953cdb8 18 #define pc_baud 460800
echo_piyo 0:bf96e953cdb8 19 #define sbdbt_tx p13
echo_piyo 0:bf96e953cdb8 20 #define sbdbt_rx p14
echo_piyo 0:bf96e953cdb8 21 #define sbdbt_baud 115200
echo_piyo 0:bf96e953cdb8 22 #define rs422_tx p28
echo_piyo 0:bf96e953cdb8 23 #define rs422_rx p27
echo_piyo 0:bf96e953cdb8 24 #define rs422_baud 115200
echo_piyo 3:9ef929639c4a 25 #define output_period 0.015
echo_piyo 28:72b9af7e1700 26 #define nucleo_num 6
echo_piyo 0:bf96e953cdb8 27 #define pi 3.141592
echo_piyo 0:bf96e953cdb8 28 #define n1_id 3
echo_piyo 0:bf96e953cdb8 29 #define n2_id 4
echo_piyo 10:04f2a82cfd89 30 #define n3_id 5
echo_piyo 14:aac2f18f6779 31 #define n4_id 6
echo_piyo 14:aac2f18f6779 32 #define n5_id 7
echo_piyo 28:72b9af7e1700 33 #define n6_id 8
echo_piyo 5:6efda58ff71b 34 #define yaw_Kp 0.01
echo_piyo 5:6efda58ff71b 35 #define yaw_Ki 0.01
echo_piyo 5:6efda58ff71b 36 #define yaw_Kd 0.01
echo_piyo 40:2d6888448ab2 37 #define acceleration 20 //25
echo_piyo 10:04f2a82cfd89 38 #define pin_cylinder_on p17
echo_piyo 10:04f2a82cfd89 39 #define pin_cylinder_off p18
echo_piyo 31:285c9898da03 40 #define pin_interrupt_cylinder_min p23
echo_piyo 12:1fec80ae8a2c 41 #define encoder_A p25
echo_piyo 12:1fec80ae8a2c 42 #define encoder_B p26
echo_piyo 40:2d6888448ab2 43 #define enc_Kp 0.0400
echo_piyo 33:64fd1bd83bac 44 #define enc_Ki 0.0001
echo_piyo 33:64fd1bd83bac 45 #define enc_Kd 0.0003
echo_piyo 34:02d605c68bf3 46 #define mecanum_power 1.0
echo_piyo 33:64fd1bd83bac 47 #define sword_power 0.8
echo_piyo 33:64fd1bd83bac 48 #define sholder_power 0.8
echo_piyo 47:6ea046767494 49 #define pin_interrupt_sholderright_max p19 //p21
echo_piyo 47:6ea046767494 50 #define pin_interrupt_sholderright_min p20 //p22
echo_piyo 33:64fd1bd83bac 51 #define pin_interrupt_sholderleft_max p7
echo_piyo 33:64fd1bd83bac 52 #define pin_interrupt_sholderleft_min p8
echo_piyo 37:fa738e34c4d3 53 #define pin_servo p21
echo_piyo 35:5e1ad00f26fb 54 #define servo_reload_time 1.0
echo_piyo 43:605e5b0b9106 55 #define pin_cylinder_reload p15
echo_piyo 45:a32e8091901b 56 #define pin_sbdbt_pairing p12
echo_piyo 45:a32e8091901b 57 #define pin_sbdbt_indicator p11
echo_piyo 0:bf96e953cdb8 58
echo_piyo 45:a32e8091901b 59 DigitalOut led1(LED1);
echo_piyo 48:96b5f5ebdfb0 60 DigitalOut led2(LED2);
echo_piyo 48:96b5f5ebdfb0 61 DigitalOut led3(LED3);
echo_piyo 48:96b5f5ebdfb0 62 DigitalOut led4(LED4);
echo_piyo 31:285c9898da03 63 DigitalIn interrupt_cylinder_min(pin_interrupt_cylinder_min);
echo_piyo 0:bf96e953cdb8 64 Serial pc(USBTX,USBRX);
echo_piyo 0:bf96e953cdb8 65 RS422 rs422(rs422_tx, rs422_rx);
echo_piyo 45:a32e8091901b 66 Sbdbt sbdbt(sbdbt_tx, sbdbt_rx, pin_sbdbt_pairing);
echo_piyo 0:bf96e953cdb8 67 Ticker output_timer;
echo_piyo 0:bf96e953cdb8 68 Mecanum mecanum;
echo_piyo 0:bf96e953cdb8 69 Bno055 bno055;
echo_piyo 2:d5b8f8e62923 70 Position_pid yaw_pid;
echo_piyo 4:a6cc2f03e69b 71 Accel v1;
echo_piyo 4:a6cc2f03e69b 72 Accel v2;
echo_piyo 4:a6cc2f03e69b 73 Accel v3;
echo_piyo 4:a6cc2f03e69b 74 Accel v4;
echo_piyo 15:0fdf483769bf 75 Cylinder cylinder(pin_cylinder_on,pin_cylinder_off);
echo_piyo 26:3280d0300b04 76 Cyclic sword;
echo_piyo 31:285c9898da03 77 Cyclic cyclic_cylinder_position;
echo_piyo 31:285c9898da03 78 DigitalIn interrupt_sholderright_min(pin_interrupt_sholderright_min);
echo_piyo 31:285c9898da03 79 DigitalIn interrupt_sholderright_max(pin_interrupt_sholderright_max);
echo_piyo 31:285c9898da03 80 DigitalIn interrupt_sholderleft_min(pin_interrupt_sholderleft_min);
echo_piyo 31:285c9898da03 81 DigitalIn interrupt_sholderleft_max(pin_interrupt_sholderleft_max);
echo_piyo 35:5e1ad00f26fb 82 Encoder enc_cylinder(encoder_A,encoder_B);
echo_piyo 38:b071512af5ca 83 Cyclic cyclic_servo;
echo_piyo 42:63aedf71f4d1 84 Cyclic_IO cylinder_reload(pin_cylinder_reload);
echo_piyo 35:5e1ad00f26fb 85 PwmOut servo(pin_servo);
echo_piyo 45:a32e8091901b 86 DigitalOut sbdbt_indigator(pin_sbdbt_indicator);
echo_piyo 50:e4e1f38d1bd5 87 varEvent event;
echo_piyo 9:6486f4b3ac50 88
echo_piyo 0:bf96e953cdb8 89 void setup();
echo_piyo 0:bf96e953cdb8 90 void output();
echo_piyo 15:0fdf483769bf 91 void motor_cal();
echo_piyo 16:e49df474e4c6 92 void cylinder_cal();
echo_piyo 10:04f2a82cfd89 93 void boost();
echo_piyo 12:1fec80ae8a2c 94 void cylinder_origin();
echo_piyo 38:b071512af5ca 95 void cylinder_origin_first();
echo_piyo 26:3280d0300b04 96 void sword_cal();
echo_piyo 35:5e1ad00f26fb 97 void servo_origin();
echo_piyo 31:285c9898da03 98 float shoulder_right_cal();
echo_piyo 31:285c9898da03 99 float shoulder_left_cal();
echo_piyo 42:63aedf71f4d1 100
echo_piyo 39:6735743ac0f1 101 //output
echo_piyo 2:d5b8f8e62923 102 float yaw, target_yaw;
echo_piyo 39:6735743ac0f1 103 //cylinder_origin
echo_piyo 38:b071512af5ca 104 int cylinder_origin_flag = 0;
echo_piyo 39:6735743ac0f1 105 //cylinder
echo_piyo 39:6735743ac0f1 106 float cylinder_pwm;
echo_piyo 39:6735743ac0f1 107 int cylinder_pos_num = 0;
echo_piyo 42:63aedf71f4d1 108 float cylinder_pos[3] = {0.0,90.0,325.0};
echo_piyo 0:bf96e953cdb8 109
echo_piyo 31:285c9898da03 110 //riseEventそのうちClassにしたい
echo_piyo 31:285c9898da03 111 short state;
echo_piyo 31:285c9898da03 112 int riseEvent(int input)
echo_piyo 31:285c9898da03 113 {
echo_piyo 31:285c9898da03 114 state = ((state<<1)|input)&3;
echo_piyo 31:285c9898da03 115 if(state == 1) {
echo_piyo 31:285c9898da03 116 return 1;
echo_piyo 31:285c9898da03 117 } else {
echo_piyo 31:285c9898da03 118 return 0;
echo_piyo 31:285c9898da03 119 }
echo_piyo 31:285c9898da03 120 }
echo_piyo 31:285c9898da03 121
echo_piyo 0:bf96e953cdb8 122 int main()
echo_piyo 0:bf96e953cdb8 123 {
echo_piyo 0:bf96e953cdb8 124 setup();
echo_piyo 2:d5b8f8e62923 125 while(1) {
echo_piyo 48:96b5f5ebdfb0 126 led1 = interrupt_sholderleft_max;
echo_piyo 48:96b5f5ebdfb0 127 led2 = interrupt_sholderleft_min;
echo_piyo 48:96b5f5ebdfb0 128 led3 = interrupt_sholderright_max;
echo_piyo 48:96b5f5ebdfb0 129 led4 = interrupt_sholderright_min;
echo_piyo 50:e4e1f38d1bd5 130
echo_piyo 50:e4e1f38d1bd5 131 event.input(sbdbt.left);
echo_piyo 50:e4e1f38d1bd5 132 pc.printf("riseState %d : fallState %d\r\n",event.getRiseState(),event.getFallState());
echo_piyo 0:bf96e953cdb8 133 }
echo_piyo 0:bf96e953cdb8 134 }
echo_piyo 0:bf96e953cdb8 135
echo_piyo 0:bf96e953cdb8 136 void setup()
echo_piyo 0:bf96e953cdb8 137 {
echo_piyo 40:2d6888448ab2 138 wait(2.0);
echo_piyo 19:76a387e4bcf6 139 bno055.begin();
echo_piyo 40:2d6888448ab2 140 wait(1.0);
echo_piyo 19:76a387e4bcf6 141 bno055.firstRead();
echo_piyo 0:bf96e953cdb8 142 pc.baud(pc_baud);
echo_piyo 0:bf96e953cdb8 143 sbdbt.begin(sbdbt_baud);
echo_piyo 0:bf96e953cdb8 144 rs422.begin(rs422_baud);
echo_piyo 38:b071512af5ca 145 cylinder_origin_first();
echo_piyo 49:b041c815c063 146 cylinder_pos_num = 2; //セットアップタイムでの初期装填のため
echo_piyo 0:bf96e953cdb8 147 output_timer.attach(&output, output_period);
echo_piyo 2:d5b8f8e62923 148 yaw_pid.setup(yaw_Kp, yaw_Ki, yaw_Kd);
echo_piyo 39:6735743ac0f1 149 mecanum.setupdeg(bno055.getYawRad()); //基盤が前後逆の場合+180
echo_piyo 4:a6cc2f03e69b 150 v1.setup(acceleration,output_period);
echo_piyo 4:a6cc2f03e69b 151 v2.setup(acceleration,output_period);
echo_piyo 4:a6cc2f03e69b 152 v3.setup(acceleration,output_period);
echo_piyo 4:a6cc2f03e69b 153 v4.setup(acceleration,output_period);
echo_piyo 31:285c9898da03 154 enc_cylinder.setup(100);
echo_piyo 13:dfae731e239f 155 enc_cylinder.set_parameter(enc_Kp,enc_Ki,enc_Kd);
echo_piyo 35:5e1ad00f26fb 156 servo.period(0.020);
echo_piyo 12:1fec80ae8a2c 157 }
echo_piyo 12:1fec80ae8a2c 158
echo_piyo 36:dca1081c19b3 159 //Sword
echo_piyo 35:5e1ad00f26fb 160 float shoulder_right_cal()
echo_piyo 15:0fdf483769bf 161 {
echo_piyo 40:2d6888448ab2 162 if(interrupt_sholderright_max==0&&sbdbt.sankaku==1) {
echo_piyo 31:285c9898da03 163 return 0.0;
echo_piyo 31:285c9898da03 164 }
echo_piyo 40:2d6888448ab2 165 if(interrupt_sholderright_min==0&&sbdbt.batu==1) {
echo_piyo 33:64fd1bd83bac 166 return 0.0;
echo_piyo 31:285c9898da03 167 }
echo_piyo 31:285c9898da03 168 return (-sbdbt.sankaku*0.8+sbdbt.batu*0.8);
echo_piyo 31:285c9898da03 169 }
echo_piyo 31:285c9898da03 170
echo_piyo 35:5e1ad00f26fb 171 float shoulder_left_cal()
echo_piyo 35:5e1ad00f26fb 172 {
echo_piyo 40:2d6888448ab2 173 if(interrupt_sholderleft_max==0&&sbdbt.sankaku==1) {
echo_piyo 31:285c9898da03 174 return 0.0;
echo_piyo 31:285c9898da03 175 }
echo_piyo 40:2d6888448ab2 176 if(interrupt_sholderleft_min==0&&sbdbt.batu==1) {
echo_piyo 35:5e1ad00f26fb 177 return 0.0;
echo_piyo 31:285c9898da03 178 }
echo_piyo 40:2d6888448ab2 179 return (-sbdbt.sankaku*0.8+sbdbt.batu*0.8);
echo_piyo 31:285c9898da03 180 }
echo_piyo 31:285c9898da03 181 void sword_cal()
echo_piyo 31:285c9898da03 182 {
echo_piyo 26:3280d0300b04 183 sword.cyclic(sbdbt.maru);
echo_piyo 17:5c4718c603dc 184 }
echo_piyo 15:0fdf483769bf 185
echo_piyo 36:dca1081c19b3 186 //cylinder
echo_piyo 38:b071512af5ca 187 void cylinder_origin_first()
echo_piyo 31:285c9898da03 188 {
echo_piyo 48:96b5f5ebdfb0 189 while(interrupt_cylinder_min == 1){
echo_piyo 40:2d6888448ab2 190 rs422.put(5, -0.4, 0.0);
echo_piyo 12:1fec80ae8a2c 191 }
echo_piyo 48:96b5f5ebdfb0 192 rs422.put(5, 0.0, 0.0);
echo_piyo 31:285c9898da03 193 enc_cylinder.origin();
echo_piyo 0:bf96e953cdb8 194 }
echo_piyo 38:b071512af5ca 195
echo_piyo 42:63aedf71f4d1 196 //cylinder_origin_flagを1にすることで動作する
echo_piyo 38:b071512af5ca 197 void cylinder_origin()
echo_piyo 38:b071512af5ca 198 {
echo_piyo 45:a32e8091901b 199 if(interrupt_cylinder_min == 0&&cylinder_origin_flag == 1) {
echo_piyo 39:6735743ac0f1 200 cylinder_origin_flag = 0;
echo_piyo 39:6735743ac0f1 201 enc_cylinder.origin();
echo_piyo 39:6735743ac0f1 202 cylinder_pos_num = 0;
echo_piyo 45:a32e8091901b 203 } else if(cylinder_origin_flag == 1) {
echo_piyo 42:63aedf71f4d1 204 rs422.put(5, -0.8, 0.0);
echo_piyo 38:b071512af5ca 205 }
echo_piyo 38:b071512af5ca 206 }
echo_piyo 38:b071512af5ca 207
echo_piyo 19:76a387e4bcf6 208 void cylinder_cal()
echo_piyo 31:285c9898da03 209 {
echo_piyo 31:285c9898da03 210 cylinder.cyclic(sbdbt.shikaku); //cylinder ON/OFF
echo_piyo 35:5e1ad00f26fb 211
echo_piyo 35:5e1ad00f26fb 212 if(riseEvent(sbdbt.right)) { //cylinder degset
echo_piyo 31:285c9898da03 213 cylinder_pos_num++;
echo_piyo 35:5e1ad00f26fb 214 if(cylinder_pos_num >= 3) {
echo_piyo 42:63aedf71f4d1 215 //cylinder_pos_num = 0;
echo_piyo 42:63aedf71f4d1 216 cylinder_origin_flag=1;
echo_piyo 31:285c9898da03 217 }
echo_piyo 31:285c9898da03 218 }
echo_piyo 50:e4e1f38d1bd5 219 enc_cylinder.cal((float)cylinder_pos[cylinder_pos_num],output_period); //set cylinder_tergetPos
echo_piyo 35:5e1ad00f26fb 220
echo_piyo 38:b071512af5ca 221 //pc.printf("terget\t%f\tnow_deg\t%f\tnow_pulse\t%d\tpwm\t%f\r\n",cylinder_pos[cylinder_pos_num],enc_cylinder.deg(),enc_cylinder.pulse(),enc_cylinder.duty());
echo_piyo 19:76a387e4bcf6 222 }
echo_piyo 38:b071512af5ca 223
echo_piyo 45:a32e8091901b 224 void servo_max()
echo_piyo 45:a32e8091901b 225 {
echo_piyo 45:a32e8091901b 226 servo.pulsewidth(0.0022);
echo_piyo 35:5e1ad00f26fb 227 }
echo_piyo 38:b071512af5ca 228 void servo_min()
echo_piyo 35:5e1ad00f26fb 229 {
echo_piyo 35:5e1ad00f26fb 230 servo.pulsewidth(0.0010);
echo_piyo 38:b071512af5ca 231 }
echo_piyo 45:a32e8091901b 232 void servo_out()
echo_piyo 45:a32e8091901b 233 {
echo_piyo 39:6735743ac0f1 234 cyclic_servo.cyclic(sbdbt.down); //setServoControl
echo_piyo 45:a32e8091901b 235 if(cyclic_servo.getState()==0) {
echo_piyo 39:6735743ac0f1 236 servo_min();
echo_piyo 45:a32e8091901b 237 } else if(cyclic_servo.getState()==1) {
echo_piyo 39:6735743ac0f1 238 servo_max();
echo_piyo 38:b071512af5ca 239 }
echo_piyo 35:5e1ad00f26fb 240 }
echo_piyo 35:5e1ad00f26fb 241
echo_piyo 36:dca1081c19b3 242
echo_piyo 36:dca1081c19b3 243 //boost
echo_piyo 31:285c9898da03 244 void boost()
echo_piyo 31:285c9898da03 245 {
echo_piyo 31:285c9898da03 246 if(sbdbt.r2) {
echo_piyo 10:04f2a82cfd89 247 mecanum.boost_forward();
echo_piyo 10:04f2a82cfd89 248 }
echo_piyo 31:285c9898da03 249 if(sbdbt.l2) {
echo_piyo 10:04f2a82cfd89 250 mecanum.boost_back();
echo_piyo 10:04f2a82cfd89 251 }
echo_piyo 26:3280d0300b04 252 /*
echo_piyo 10:04f2a82cfd89 253 if(sbdbt.shikaku) {
echo_piyo 10:04f2a82cfd89 254 mecanum.boost_left();
echo_piyo 10:04f2a82cfd89 255 }
echo_piyo 10:04f2a82cfd89 256 if(sbdbt.maru) {
echo_piyo 10:04f2a82cfd89 257 mecanum.boost_right();
echo_piyo 10:04f2a82cfd89 258 }
echo_piyo 26:3280d0300b04 259 */
echo_piyo 10:04f2a82cfd89 260 }
echo_piyo 10:04f2a82cfd89 261
echo_piyo 36:dca1081c19b3 262 //mecanum
echo_piyo 15:0fdf483769bf 263 void motor_cal()
echo_piyo 5:6efda58ff71b 264 {
echo_piyo 4:a6cc2f03e69b 265 yaw = bno055.getYawRad();
echo_piyo 4:a6cc2f03e69b 266 target_yaw = yaw;
echo_piyo 4:a6cc2f03e69b 267 yaw_pid.cal(target_yaw, yaw, output_period);
echo_piyo 4:a6cc2f03e69b 268 mecanum.sbdbt_cal(sbdbt.left_x, sbdbt.left_y, sbdbt.l1, sbdbt.r1, yaw_pid.duty(), bno055.getYawRad());
echo_piyo 5:6efda58ff71b 269 // pc.printf("%f\t data %f\t %f\t %f\t %f\t\r\n", bno055.getYawRad(), sbdbt.left_x, sbdbt.left_y, mecanum.VX(), mecanum.VY());
echo_piyo 35:5e1ad00f26fb 270 }
echo_piyo 35:5e1ad00f26fb 271 void output()
echo_piyo 35:5e1ad00f26fb 272 {
echo_piyo 35:5e1ad00f26fb 273 motor_cal();
echo_piyo 35:5e1ad00f26fb 274 cylinder_cal();
echo_piyo 35:5e1ad00f26fb 275 sword_cal();
echo_piyo 38:b071512af5ca 276 servo_out();
echo_piyo 38:b071512af5ca 277 cylinder_origin();
echo_piyo 35:5e1ad00f26fb 278 //boost();
echo_piyo 45:a32e8091901b 279
echo_piyo 48:96b5f5ebdfb0 280 //led1 = sbdbt.get_pairingState();
echo_piyo 45:a32e8091901b 281 sbdbt_indigator = sbdbt.get_pairingState();
echo_piyo 45:a32e8091901b 282
echo_piyo 49:b041c815c063 283 if(sbdbt.up)cylinder_origin_flag = 1;
echo_piyo 49:b041c815c063 284 if(sbdbt.left)bno055.yaw_origin();
echo_piyo 49:b041c815c063 285 cylinder_reload.cyclic(sbdbt.down);
echo_piyo 45:a32e8091901b 286
echo_piyo 35:5e1ad00f26fb 287 static int counter;
echo_piyo 35:5e1ad00f26fb 288 int id[nucleo_num] = {n1_id, n2_id, n3_id, n4_id, n5_id, n6_id};
echo_piyo 45:a32e8091901b 289
echo_piyo 45:a32e8091901b 290 //sbdbtがpairingしている場合のみ動作
echo_piyo 45:a32e8091901b 291 if(sbdbt.get_pairingState()) {
echo_piyo 45:a32e8091901b 292 switch (counter) {
echo_piyo 45:a32e8091901b 293 case 0:
echo_piyo 45:a32e8091901b 294 rs422.put(id[counter], v1.duty((mecanum.v1()*mecanum_power)+(sbdbt.right_y*0.5)), v3.duty((mecanum.v3()*mecanum_power)+(sbdbt.right_y*0.5)));
echo_piyo 45:a32e8091901b 295 counter++;
echo_piyo 45:a32e8091901b 296 break;
echo_piyo 45:a32e8091901b 297 case 1:
echo_piyo 45:a32e8091901b 298 //.duty(<cal>*<powerControle>+(<boost>*0.5))
echo_piyo 45:a32e8091901b 299 rs422.put(id[counter], v2.duty((mecanum.v2()*mecanum_power)-(sbdbt.right_y*0.5)), v4.duty((mecanum.v4()*mecanum_power)-(sbdbt.right_y*0.5)));
echo_piyo 45:a32e8091901b 300 counter ++;
echo_piyo 45:a32e8091901b 301 break;
echo_piyo 45:a32e8091901b 302 case 2:
echo_piyo 49:b041c815c063 303 rs422.put(id[counter], -1*enc_cylinder.duty_enableWidth(-.0,5.0), 0.0);
echo_piyo 45:a32e8091901b 304 counter ++;
echo_piyo 45:a32e8091901b 305 break;
echo_piyo 45:a32e8091901b 306 case 3:
echo_piyo 48:96b5f5ebdfb0 307 rs422.put(id[counter], -1*shoulder_right_cal()*sholder_power,shoulder_left_cal()*sholder_power);
echo_piyo 45:a32e8091901b 308 counter ++;
echo_piyo 45:a32e8091901b 309 break;
echo_piyo 45:a32e8091901b 310 case 4:
echo_piyo 45:a32e8091901b 311 rs422.put(id[counter], ((float)sword.getState()*sword_power),0.0);
echo_piyo 45:a32e8091901b 312 counter = 0;
echo_piyo 45:a32e8091901b 313 break;
echo_piyo 45:a32e8091901b 314 default:
echo_piyo 45:a32e8091901b 315 break;
echo_piyo 48:96b5f5ebdfb0 316 }
echo_piyo 45:a32e8091901b 317 }else{
echo_piyo 48:96b5f5ebdfb0 318 switch (counter) {
echo_piyo 48:96b5f5ebdfb0 319 case 0:
echo_piyo 48:96b5f5ebdfb0 320 rs422.put(id[counter],0.0,0.0);
echo_piyo 48:96b5f5ebdfb0 321 counter++;
echo_piyo 48:96b5f5ebdfb0 322 break;
echo_piyo 48:96b5f5ebdfb0 323 case 1:
echo_piyo 48:96b5f5ebdfb0 324 rs422.put(id[counter],0.0,0.0);
echo_piyo 48:96b5f5ebdfb0 325 counter ++;
echo_piyo 48:96b5f5ebdfb0 326 break;
echo_piyo 48:96b5f5ebdfb0 327 case 2:
echo_piyo 48:96b5f5ebdfb0 328 rs422.put(id[counter],0.0,0.0);
echo_piyo 48:96b5f5ebdfb0 329 counter ++;
echo_piyo 48:96b5f5ebdfb0 330 break;
echo_piyo 48:96b5f5ebdfb0 331 case 3:
echo_piyo 48:96b5f5ebdfb0 332 rs422.put(id[counter],0.0,0.0);
echo_piyo 48:96b5f5ebdfb0 333 counter ++;
echo_piyo 48:96b5f5ebdfb0 334 break;
echo_piyo 48:96b5f5ebdfb0 335 case 4:
echo_piyo 48:96b5f5ebdfb0 336 rs422.put(id[counter],0.0,0.0);
echo_piyo 48:96b5f5ebdfb0 337 counter = 0;
echo_piyo 48:96b5f5ebdfb0 338 break;
echo_piyo 48:96b5f5ebdfb0 339 default:
echo_piyo 48:96b5f5ebdfb0 340 break;
echo_piyo 45:a32e8091901b 341 }
echo_piyo 45:a32e8091901b 342 }
echo_piyo 14:aac2f18f6779 343 }