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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:
- 36:dca1081c19b3
- Parent:
- 35:5e1ad00f26fb
- Child:
- 37:fa738e34c4d3
--- a/main.cpp Wed Sep 06 01:17:44 2017 +0000 +++ b/main.cpp Wed Sep 06 02:22:16 2017 +0000 @@ -144,7 +144,7 @@ servo.period(0.020); } - +//Sword float shoulder_right_cal() { if(interrupt_sholderright_max==0&&sbdbt.sankaku) { @@ -164,14 +164,14 @@ if(interrupt_sholderleft_min==0&&sbdbt.down==1) { return 0.0; } - return (sbdbt.up*0.8-sbdbt.down*0.8); + return (sbdbt.sankaku*0.8-sbdbt.batu*0.8); } - void sword_cal() { sword.cyclic(sbdbt.maru); } +//cylinder void cylinder_origin() { while(interrupt_cylinder_min == 1) { @@ -181,8 +181,6 @@ led1 = 0; enc_cylinder.origin(); } - - //追記(動作未確認) float cylinder_pwm; int cylinder_pos_num = 0; @@ -216,7 +214,6 @@ } */ } - //追記(動作未確認) //SBDBTか何かでcylinder_reload_enableを1にすりゃ動く int cylinder_reload_enable = 0; @@ -231,13 +228,14 @@ } } } - void servo_origin() { servo.pulsewidth(0.0010); timer_servo.detach(); } + +//boost void boost() { if(sbdbt.r2) { @@ -256,6 +254,7 @@ */ } +//mecanum void motor_cal() { yaw = bno055.getYawRad(); @@ -264,8 +263,6 @@ mecanum.sbdbt_cal(sbdbt.left_x, sbdbt.left_y, sbdbt.l1, sbdbt.r1, yaw_pid.duty(), bno055.getYawRad()); // pc.printf("%f\t data %f\t %f\t %f\t %f\t\r\n", bno055.getYawRad(), sbdbt.left_x, sbdbt.left_y, mecanum.VX(), mecanum.VY()); } - - void output() { motor_cal(); @@ -304,7 +301,7 @@ counter ++; break; case 3: - rs422.put(id[counter], shoulder_right_cal()*sholder_power,-1*shoulder_right_cal()*sholder_power); + rs422.put(id[counter], shoulder_right_cal()*sholder_power,-1*shoulder_left_cal()*sholder_power); counter ++; break; case 4: