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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
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Diff: main.cpp
- Revision:
- 34:02d605c68bf3
- Parent:
- 33:64fd1bd83bac
- Child:
- 35:5e1ad00f26fb
--- a/main.cpp Tue Aug 29 06:56:32 2017 +0000 +++ b/main.cpp Tue Aug 29 11:30:28 2017 +0000 @@ -44,7 +44,7 @@ #define enc_Kp 0.005 #define enc_Ki 0.0001 #define enc_Kd 0.0003 -#define mecanum_power 0.8 +#define mecanum_power 1.0 #define sword_power 0.8 #define sholder_power 0.8 //#define pin_servo_reload p29 // @@ -172,7 +172,7 @@ counter ++; break; case 3: - rs422.put(id[counter], shoulder_right_cal()*sholder_power,shoulder_left_cal()*sholder_power); + rs422.put(id[counter], shoulder_right_cal()*sholder_power,-1*shoulder_right_cal()*sholder_power); counter ++; break; case 4: