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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:
- 58:6cd46488f59b
- Parent:
- 57:68df771fd8a1
- Child:
- 59:68a73b9d27f5
--- 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