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: main.cpp

Revision:
52:f5ae47e683fa
Parent:
51:70d45b959d6b
Child:
53:701dc7886fff
--- a/main.cpp	Wed Sep 13 02:58:53 2017 +0000
+++ b/main.cpp	Thu Sep 14 11:56:51 2017 +0000
@@ -44,8 +44,8 @@
 #define enc_Ki      0.0001
 #define enc_Kd      0.0003
 #define mecanum_power   1.0
-#define sword_power     0.8
-#define sholder_power   0.8
+#define sword_power     1.0
+#define sholder_power   1.0
 #define pin_interrupt_sholderright_max  p19 //p21
 #define pin_interrupt_sholderright_min  p20 //p22
 #define pin_interrupt_sholderleft_max   p7
@@ -131,7 +131,7 @@
     pc.baud(pc_baud);
     sbdbt.begin(sbdbt_baud);
     rs422.begin(rs422_baud);
-    cylinder_origin_first();
+//    cylinder_origin_first();
     cylinder_pos_num = 2;                   //セットアップタイムでの初期装填のため
     output_timer.attach(&output, output_period);
     yaw_pid.setup(yaw_Kp, yaw_Ki, yaw_Kd);
@@ -176,7 +176,7 @@
 void cylinder_origin_first()
 {
     while(interrupt_cylinder_min == 1){
-        rs422.put(5, -0.4, 0.0);
+        rs422.put(5, -0.8, 0.0);
     }
     rs422.put(5, 0.0, 0.0);
     enc_cylinder.origin();
@@ -281,16 +281,16 @@
     if(sbdbt.get_pairingState()) {
         switch (counter) {
             case 0:
-                rs422.put(id[counter], v1.duty((mecanum.v1()*mecanum_power)+(sbdbt.right_y*0.5)), v3.duty((mecanum.v3()*mecanum_power)+(sbdbt.right_y*0.5)));
+                rs422.put(id[counter], v1.duty((mecanum.v1()*mecanum_power)+(sbdbt.right_y*0.8)), v3.duty((mecanum.v3()*mecanum_power)+(sbdbt.right_y*0.8)));
                 counter++;
                 break;
             case 1:
                 //.duty(<cal>*<powerControle>+(<boost>*0.5))
-                rs422.put(id[counter], v2.duty((mecanum.v2()*mecanum_power)-(sbdbt.right_y*0.5)), v4.duty((mecanum.v4()*mecanum_power)-(sbdbt.right_y*0.5)));
+                rs422.put(id[counter], v2.duty((mecanum.v2()*mecanum_power)-(sbdbt.right_y*0.8)), v4.duty((mecanum.v4()*mecanum_power)-(sbdbt.right_y*0.8)));
                 counter ++;
                 break;
             case 2:
-                rs422.put(id[counter], -1*enc_cylinder.duty_enableWidth(-.0,5.0), 0.0);
+                rs422.put(id[counter], -1*enc_cylinder.duty_enableWidth(-5.0,5.0), 0.0);
                 counter ++;
                 break;
             case 3: