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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:
- 20:347daec6c9a3
- Parent:
- 19:76a387e4bcf6
- Child:
- 21:6568c3587003
--- a/main.cpp Fri Aug 04 07:07:04 2017 +0000 +++ b/main.cpp Fri Aug 04 23:55:22 2017 +0000 @@ -61,6 +61,7 @@ Accel v4; Cylinder cylinder(pin_cylinder_on,pin_cylinder_off); Cyclic sword_left; +Cyclic sword_right; //追加点 Encoder enc_cylinder(encoder_A,encoder_B); @@ -130,7 +131,11 @@ counter ++; break; case 3: - rs422.put(id[counter], (sbdbt.sankaku*0.5-sbdbt.batu*0.5), ((float)sword_left.getState())); + rs422.put(id[counter], (sbdbt.sankaku*0.5-sbdbt.batu*0.5), ((float)sword_right.getState())); + counter ++; + break; + case 4: + rs422.put(id[counter], (sbdbt.up*0.5-sbdbt.down*0.5), ((float)sword_left.getState())); counter = 0; break; default: @@ -139,7 +144,10 @@ } void sword_left_cal(){ - sword_left.cyclic(sbdbt.maru); + sword_left.cyclic(sbdbt.left); +} +void sword_right_cal(){ + sword_right.cyclic(sbdbt.maru); } void cylinder_origin(){ @@ -152,7 +160,7 @@ void cylinder_cal() { - cylinder.cyclic(sbdbt.up); + cylinder.cyclic(sbdbt.right); } void boost(){