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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:
- 58:6cd46488f59b
- Parent:
- 57:68df771fd8a1
- Child:
- 59:68a73b9d27f5
diff -r 68df771fd8a1 -r 6cd46488f59b main.cpp --- a/main.cpp Tue Sep 19 04:20:34 2017 +0000 +++ b/main.cpp Tue Sep 19 04:29:46 2017 +0000 @@ -77,7 +77,8 @@ Accel v2; Accel v3; Accel v4; -Cylinder cylinder(pin_cylinder_on,pin_cylinder_off); +DigitalOut cylinder_on(pin_cylinder_on); +DigitalOut cylinder_off(pin_cylinder_off); Cyclic sword; Cyclic cyclic_cylinder_position; DigitalIn interrupt_sholderright_min(pin_interrupt_sholderright_min); @@ -219,7 +220,14 @@ } void cylinder_cal() { - cylinder.cyclic(sbdbt.shikaku); //cylinder ON/OFF + //cylinder ON/OFF + if(sbdbt.shikaku){ + cylinder_on = 1; + cylinder_off = 0; + }else{ + cylinder_on = 0; + cylinder_off = 1; + } cylinder_event.input(sbdbt.right); if(cylinder_event.getRise()) { //cylinder degset