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:
- 49:b041c815c063
- Parent:
- 48:96b5f5ebdfb0
- Child:
- 50:e4e1f38d1bd5
diff -r 96b5f5ebdfb0 -r b041c815c063 main.cpp --- a/main.cpp Wed Sep 13 00:19:44 2017 +0000 +++ b/main.cpp Wed Sep 13 01:25:07 2017 +0000 @@ -148,7 +148,7 @@ sbdbt.begin(sbdbt_baud); rs422.begin(rs422_baud); cylinder_origin_first(); - cylinder_pos_num = 1; //セットアップタイムでの初期装填のため + 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 @@ -303,11 +303,9 @@ //led1 = sbdbt.get_pairingState(); sbdbt_indigator = sbdbt.get_pairingState(); - if(sbdbt.up) { - cylinder_origin_flag = 1; - } - - cylinder_reload.cyclic(sbdbt.left); + if(sbdbt.up)cylinder_origin_flag = 1; + if(sbdbt.left)bno055.yaw_origin(); + cylinder_reload.cyclic(sbdbt.down); static int counter; int id[nucleo_num] = {n1_id, n2_id, n3_id, n4_id, n5_id, n6_id}; @@ -325,7 +323,7 @@ counter ++; break; case 2: - rs422.put(id[counter], enc_cylinder.duty()*-1, 0.0); + rs422.put(id[counter], -1*enc_cylinder.duty_enableWidth(-.0,5.0), 0.0); counter ++; break; case 3: