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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:
- 24:da0fc94add43
- Parent:
- 23:aeff5fd36ae1
- Child:
- 25:124aee8a7742
diff -r aeff5fd36ae1 -r da0fc94add43 main.cpp --- a/main.cpp Sat Aug 05 04:23:30 2017 +0000 +++ b/main.cpp Sun Aug 06 02:01:23 2017 +0000 @@ -42,6 +42,7 @@ #define enc_Kp 0.01 #define enc_Ki 0.01 #define enc_Kd 0.01 +#define powerdown 0.6 DigitalOut led1(LED1); //DigitalOut led2(LED2); @@ -122,11 +123,11 @@ switch (counter) { case 0: - rs422.put(id[counter], v1.duty(mecanum.v1()), v3.duty(mecanum.v3())); + rs422.put(id[counter], v1.duty(mecanum.v1()*powerdown), v3.duty(mecanum.v3()*powerdown)); counter++; break; case 1: - rs422.put(id[counter], v2.duty(mecanum.v2()), v4.duty(mecanum.v4())); + rs422.put(id[counter], v2.duty(mecanum.v2()*powerdown), v4.duty(mecanum.v4()*powerdown)); counter ++; break; case 2: @@ -134,11 +135,11 @@ counter ++; break; case 3: - rs422.put(id[counter], (sbdbt.sankaku*0.5-sbdbt.batu*0.5), (sbdbt.up*0.5-sbdbt.down*0.5) ); + rs422.put(id[counter], (-sbdbt.sankaku*0.8+sbdbt.batu*0.8), (sbdbt.up*0.8-sbdbt.down*0.8)); counter ++; break; case 4: - rs422.put(id[counter], ((float)sword_left.getState()),0.0); + rs422.put(id[counter], ((float)sword_right.getState()*0.8),((float)sword_left.getState()*0.8)); counter = 0; break; default: