Diff: main.cpp

Revision:

63:7e7d0cbc06c3

Parent:

59:68a73b9d27f5

diff -r 9766aaa365db -r 7e7d0cbc06c3 main.cpp
--- a/main.cpp	Thu Sep 21 05:59:49 2017 +0000
+++ b/main.cpp	Fri Sep 22 10:07:33 2017 +0000
@@ -132,17 +132,17 @@
 void setup()
 {
     wait(2.0);
-    bno055.begin();
+//    bno055.begin();
     wait(1.0);
-    bno055.firstRead();
+//    bno055.firstRead();
     pc.baud(pc_baud);
     sbdbt.begin(sbdbt_baud);
     rs422.begin(rs422_baud);
-    firstmotion();
-    cylinder_pos_num = 2;                   //セットアップタイムでの初期装填のため
+//    firstmotion();
+//    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);
-    mecanum.setupdeg(bno055.getYawRad());   //基盤が前後逆の場合+180
+//    mecanum.setupdeg(bno055.getYawRad());   //基盤が前後逆の場合+180
     v1.setup(acceleration,output_period);
     v2.setup(acceleration,output_period);
     v3.setup(acceleration,output_period);
@@ -309,7 +309,7 @@
     //led1 = sbdbt.get_pairingState();
     if(sbdbt.up)cylinder_origin_flag = 1;
     if(sbdbt.left)bno055.yaw_origin();
-    cylinder_reload.cyclic(sbdbt.down);
+    cylinder_reload.cyclic(sbdbt.down&&(interrupt_cylinder_min==0));
 
     static int counter;
     static float mecanumV1, mecanumV2, mecanumV3, mecanumV4;