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

Diff: mecanum.h

Revision:
10:04f2a82cfd89
Parent:
5:6efda58ff71b
Child:
41:a4e37077833b
--- a/mecanum.h	Tue Jul 11 09:39:40 2017 +0000
+++ b/mecanum.h	Sun Jul 16 04:06:49 2017 +0000
@@ -20,8 +20,9 @@
 
 */
 
-#define rotaPower 0.3
-#define boost_K 0.5
+#define rotaPower 0.4
+#define boost_A 0.5
+#define boost_K 0.9
 #define PI 3.141592
 
 class Mecanum{
@@ -45,17 +46,46 @@
         
         void boost(){
             if(vy > 0.4){
-                V1 +=  boost_K;
-                V2 += -boost_K;
-                V3 +=  boost_K;
-                V4 += -boost_K;
+                V1 +=  boost_A;
+                V2 += -boost_A;
+                V3 +=  boost_A;
+                V4 += -boost_A;
             }else if(vy < -0.4){
-                V1 += -boost_K;
-                V2 +=  boost_K;
-                V3 += -boost_K;
-                V4 +=  boost_K;
+                V1 += -boost_A;
+                V2 +=  boost_A;
+                V3 += -boost_A;
+                V4 +=  boost_A;
             }
-        }        
+        }
+        
+        void boost_forward(){
+                V1 = -boost_K;
+                V2 =  boost_K;
+                V3 = -boost_K;
+                V4 =  boost_K;
+        }
+        
+        void boost_back(){
+                V1 =  boost_K;
+                V2 = -boost_K;
+                V3 =  boost_K;
+                V4 = -boost_K;
+        }
+        
+        void boost_right(){
+                V1 =  boost_K;
+                V2 = -boost_K;
+                V3 = -boost_K;
+                V4 =  boost_K;
+        }
+        
+        void boost_left(){
+                V1 = -boost_K;
+                V2 =  boost_K;
+                V3 =  boost_K;
+                V4 = -boost_K;
+        }
+        
         
         void xy_cal(float Vx, float Vy){
             V1 =  Vx / 2 + Vy / 2;