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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
Fork of 17robo_Practice1 by
Diff: main.cpp
- Revision:
- 19:76a387e4bcf6
- Parent:
- 18:ae4d97945b83
- Child:
- 20:347daec6c9a3
- Child:
- 22:ffded43c9fc6
--- a/main.cpp Fri Aug 04 02:15:30 2017 +0000 +++ b/main.cpp Fri Aug 04 07:07:04 2017 +0000 @@ -86,13 +86,13 @@ void setup() { wait(1); -// bno055.begin(); + bno055.begin(); wait(1); -// bno055.firstRead(); + bno055.firstRead(); pc.baud(pc_baud); sbdbt.begin(sbdbt_baud); rs422.begin(rs422_baud); -// cylinder_origin(); + cylinder_origin(); output_timer.attach(&output, output_period); yaw_pid.setup(yaw_Kp, yaw_Ki, yaw_Kd); mecanum.setupdeg(bno055.getYawRad()+180.0); @@ -126,11 +126,11 @@ counter ++; break; case 2: - rs422.put(id[counter], 0.0, 0.0); + rs422.put(id[counter], sbdbt.right_y, 0.0); counter ++; break; case 3: - rs422.put(id[counter], sbdbt.right_y, ((float)sword_left.getState())); + rs422.put(id[counter], (sbdbt.sankaku*0.5-sbdbt.batu*0.5), ((float)sword_left.getState())); counter = 0; break; default: @@ -150,6 +150,11 @@ led1 = 0; } +void cylinder_cal() +{ + cylinder.cyclic(sbdbt.up); +} + void boost(){ if(sbdbt.sankaku) { mecanum.boost_forward(); @@ -165,11 +170,6 @@ } } -void cylinder_cal() -{ - cylinder.cyclic(sbdbt.down); -} - void motor_cal() { yaw = bno055.getYawRad();