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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:
- 61:86990ae9f8f6
- Parent:
- 60:07d7bde726f9
--- a/main.cpp Wed Sep 20 04:04:27 2017 +0000 +++ b/main.cpp Wed Sep 20 07:10:02 2017 +0000 @@ -10,9 +10,9 @@ #include "pid.h" #include "limit.h" #include "accelerator.h" -#include "encorder.h" -#include "cyclic.h" -#include "cyclic_IO.h" +#include "encorder_.h" +#include "cyclic_var.h" +#include "cyclic_io.h" #include "cylinder.h" #include "varEvent.h" @@ -73,21 +73,21 @@ Mecanum mecanum; Bno055 bno055; Position_pid yaw_pid; -Accel v1; -Accel v2; -Accel v3; -Accel v4; +Accelerator v1; +Accelerator v2; +Accelerator v3; +Accelerator v4; DigitalOut cylinder_on(pin_cylinder_on); DigitalOut cylinder_off(pin_cylinder_off); -Cyclic sword; -Cyclic cyclic_cylinder_position; +CyclicVar sword; +CyclicVar cyclic_cylinder_position; DigitalIn interrupt_sholderright_min(pin_interrupt_sholderright_min); DigitalIn interrupt_sholderright_max(pin_interrupt_sholderright_max); DigitalIn interrupt_sholderleft_min(pin_interrupt_sholderleft_min); DigitalIn interrupt_sholderleft_max(pin_interrupt_sholderleft_max); Encoder enc_cylinder(encoder_A,encoder_B); -Cyclic cyclic_servo; -Cyclic_IO cylinder_reload(pin_cylinder_reload); +CyclicVar cyclic_servo; +CyclicIo cylinder_reload(pin_cylinder_reload); PwmOut servo(pin_servo); DigitalOut sbdbt_indigator(pin_sbdbt_indicator); varEvent cylinder_event;