kusano kiyoshige / Mbed 2 deprecated 17robo_tokyo_kaede

sampleProgram

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_fuzi by kusano kiyoshige

main.cpp@44:7410d8356f58, 2017-09-10 (annotated)

Committer:
echo_piyo
Date:
Sun Sep 10 11:51:57 2017 +0000
Revision:
44:7410d8356f58
Parent:
43:605e5b0b9106
Child:
45:a32e8091901b
(?)9/10????????????

Who changed what in which revision?

UserRevisionLine numberNew contents of line
echo_piyo 0:bf96e953cdb8 1 #include "mbed.h"
echo_piyo 4:a6cc2f03e69b 2 #include "math.h"
echo_piyo 0:bf96e953cdb8 3 #include "bit_test.h"
echo_piyo 0:bf96e953cdb8 4 #include "RS422_put.h"
echo_piyo 0:bf96e953cdb8 5 #include "sbdbt.h"
echo_piyo 0:bf96e953cdb8 6 #include "mecanum.h"
echo_piyo 0:bf96e953cdb8 7 #include "bno055_lib.h"
echo_piyo 0:bf96e953cdb8 8 #include "bno055_use.h"
echo_piyo 0:bf96e953cdb8 9 #include "pid.h"
echo_piyo 0:bf96e953cdb8 10 #include "limit.h"
echo_piyo 4:a6cc2f03e69b 11 #include "accelerator.h"
echo_piyo 10:04f2a82cfd89 12 #include "encorder.h"
echo_piyo 14:aac2f18f6779 13 #include "cyclic.h"
echo_piyo 14:aac2f18f6779 14 #include "cyclic_IO.h"
echo_piyo 15:0fdf483769bf 15 #include "cylinder.h"
echo_piyo 0:bf96e953cdb8 16
echo_piyo 44:7410d8356f58 17
echo_piyo 0:bf96e953cdb8 18 #define pc_baud 460800
echo_piyo 0:bf96e953cdb8 19 #define sbdbt_tx p13
echo_piyo 0:bf96e953cdb8 20 #define sbdbt_rx p14
echo_piyo 0:bf96e953cdb8 21 #define sbdbt_baud 115200
echo_piyo 0:bf96e953cdb8 22 #define rs422_tx p28
echo_piyo 0:bf96e953cdb8 23 #define rs422_rx p27
echo_piyo 0:bf96e953cdb8 24 #define rs422_baud 115200
echo_piyo 3:9ef929639c4a 25 #define output_period 0.015
echo_piyo 28:72b9af7e1700 26 #define nucleo_num 6
echo_piyo 0:bf96e953cdb8 27 #define pi 3.141592
echo_piyo 0:bf96e953cdb8 28 #define n1_id 3
echo_piyo 0:bf96e953cdb8 29 #define n2_id 4
echo_piyo 10:04f2a82cfd89 30 #define n3_id 5
echo_piyo 14:aac2f18f6779 31 #define n4_id 6
echo_piyo 14:aac2f18f6779 32 #define n5_id 7
echo_piyo 28:72b9af7e1700 33 #define n6_id 8
echo_piyo 5:6efda58ff71b 34 #define yaw_Kp 0.01
echo_piyo 5:6efda58ff71b 35 #define yaw_Ki 0.01
echo_piyo 5:6efda58ff71b 36 #define yaw_Kd 0.01
echo_piyo 40:2d6888448ab2 37 #define acceleration 20 //25
echo_piyo 10:04f2a82cfd89 38 #define pin_cylinder_on p17
echo_piyo 10:04f2a82cfd89 39 #define pin_cylinder_off p18
echo_piyo 31:285c9898da03 40 #define pin_interrupt_cylinder_min p23
echo_piyo 12:1fec80ae8a2c 41 #define encoder_A p25
echo_piyo 12:1fec80ae8a2c 42 #define encoder_B p26
echo_piyo 40:2d6888448ab2 43 #define enc_Kp 0.0400
echo_piyo 33:64fd1bd83bac 44 #define enc_Ki 0.0001
echo_piyo 33:64fd1bd83bac 45 #define enc_Kd 0.0003
echo_piyo 34:02d605c68bf3 46 #define mecanum_power 1.0
echo_piyo 33:64fd1bd83bac 47 #define sword_power 0.8
echo_piyo 33:64fd1bd83bac 48 #define sholder_power 0.8
echo_piyo 37:fa738e34c4d3 49 #define pin_interrupt_sholderright_max p11 //p21
echo_piyo 37:fa738e34c4d3 50 #define pin_interrupt_sholderright_min p12 //p22
echo_piyo 33:64fd1bd83bac 51 #define pin_interrupt_sholderleft_max p7
echo_piyo 33:64fd1bd83bac 52 #define pin_interrupt_sholderleft_min p8
echo_piyo 37:fa738e34c4d3 53 #define pin_servo p21
echo_piyo 35:5e1ad00f26fb 54 #define servo_reload_time 1.0
echo_piyo 43:605e5b0b9106 55 #define pin_cylinder_reload p15
echo_piyo 35:5e1ad00f26fb 56 //#define pin_servo_reload p29 //
echo_piyo 35:5e1ad00f26fb 57 //#define pin_interrupt_reload p30 //
echo_piyo 0:bf96e953cdb8 58
echo_piyo 42:63aedf71f4d1 59 //DigitalOut led1(LED1);
echo_piyo 42:63aedf71f4d1 60 //DigitalOut led2(LED2);
echo_piyo 42:63aedf71f4d1 61 //DigitalOut led3(LED3);
echo_piyo 42:63aedf71f4d1 62 //DigitalOut led4(LED4);
echo_piyo 31:285c9898da03 63 DigitalIn interrupt_cylinder_min(pin_interrupt_cylinder_min);
echo_piyo 0:bf96e953cdb8 64 Serial pc(USBTX,USBRX);
echo_piyo 0:bf96e953cdb8 65 RS422 rs422(rs422_tx, rs422_rx);
echo_piyo 0:bf96e953cdb8 66 Sbdbt sbdbt(sbdbt_tx, sbdbt_rx);
echo_piyo 0:bf96e953cdb8 67 Ticker output_timer;
echo_piyo 0:bf96e953cdb8 68 Mecanum mecanum;
echo_piyo 0:bf96e953cdb8 69 Bno055 bno055;
echo_piyo 2:d5b8f8e62923 70 Position_pid yaw_pid;
echo_piyo 4:a6cc2f03e69b 71 Accel v1;
echo_piyo 4:a6cc2f03e69b 72 Accel v2;
echo_piyo 4:a6cc2f03e69b 73 Accel v3;
echo_piyo 4:a6cc2f03e69b 74 Accel v4;
echo_piyo 15:0fdf483769bf 75 Cylinder cylinder(pin_cylinder_on,pin_cylinder_off);
echo_piyo 26:3280d0300b04 76 Cyclic sword;
echo_piyo 31:285c9898da03 77 Cyclic cyclic_cylinder_position;
echo_piyo 31:285c9898da03 78 DigitalIn interrupt_sholderright_min(pin_interrupt_sholderright_min);
echo_piyo 31:285c9898da03 79 DigitalIn interrupt_sholderright_max(pin_interrupt_sholderright_max);
echo_piyo 31:285c9898da03 80 DigitalIn interrupt_sholderleft_min(pin_interrupt_sholderleft_min);
echo_piyo 31:285c9898da03 81 DigitalIn interrupt_sholderleft_max(pin_interrupt_sholderleft_max);
echo_piyo 35:5e1ad00f26fb 82 Encoder enc_cylinder(encoder_A,encoder_B);
echo_piyo 38:b071512af5ca 83 Cyclic cyclic_servo;
echo_piyo 42:63aedf71f4d1 84 Cyclic_IO cylinder_reload(pin_cylinder_reload);
echo_piyo 31:285c9898da03 85
echo_piyo 35:5e1ad00f26fb 86 //追加
echo_piyo 35:5e1ad00f26fb 87 PwmOut servo(pin_servo);
echo_piyo 35:5e1ad00f26fb 88 Timeout timer_servo;
echo_piyo 33:64fd1bd83bac 89 //Servo servo_reload(pin_servo_reload);
echo_piyo 33:64fd1bd83bac 90 //DigitalIn interrupt_reload(pin_interrupt_reload);
echo_piyo 9:6486f4b3ac50 91
echo_piyo 0:bf96e953cdb8 92 void setup();
echo_piyo 0:bf96e953cdb8 93 void output();
echo_piyo 15:0fdf483769bf 94 void motor_cal();
echo_piyo 16:e49df474e4c6 95 void cylinder_cal();
echo_piyo 10:04f2a82cfd89 96 void boost();
echo_piyo 12:1fec80ae8a2c 97 void cylinder_origin();
echo_piyo 38:b071512af5ca 98 void cylinder_origin_first();
echo_piyo 26:3280d0300b04 99 void sword_cal();
echo_piyo 35:5e1ad00f26fb 100 void servo_origin();
echo_piyo 31:285c9898da03 101 float shoulder_right_cal();
echo_piyo 31:285c9898da03 102 float shoulder_left_cal();
echo_piyo 42:63aedf71f4d1 103
echo_piyo 39:6735743ac0f1 104 //output
echo_piyo 2:d5b8f8e62923 105 float yaw, target_yaw;
echo_piyo 39:6735743ac0f1 106 //cylinder_origin
echo_piyo 38:b071512af5ca 107 int cylinder_origin_flag = 0;
echo_piyo 39:6735743ac0f1 108 //cylinder
echo_piyo 39:6735743ac0f1 109 float cylinder_pwm;
echo_piyo 39:6735743ac0f1 110 int cylinder_pos_num = 0;
echo_piyo 42:63aedf71f4d1 111 float cylinder_pos[3] = {0.0,90.0,325.0};
echo_piyo 0:bf96e953cdb8 112
echo_piyo 31:285c9898da03 113 //riseEventそのうちClassにしたい
echo_piyo 31:285c9898da03 114 short state;
echo_piyo 31:285c9898da03 115 int riseEvent(int input)
echo_piyo 31:285c9898da03 116 {
echo_piyo 31:285c9898da03 117 state = ((state<<1)|input)&3;
echo_piyo 31:285c9898da03 118 if(state == 1) {
echo_piyo 31:285c9898da03 119 return 1;
echo_piyo 31:285c9898da03 120 } else {
echo_piyo 31:285c9898da03 121 return 0;
echo_piyo 31:285c9898da03 122 }
echo_piyo 31:285c9898da03 123 }
echo_piyo 31:285c9898da03 124
echo_piyo 0:bf96e953cdb8 125 int main()
echo_piyo 0:bf96e953cdb8 126 {
echo_piyo 0:bf96e953cdb8 127 setup();
echo_piyo 2:d5b8f8e62923 128 while(1) {
echo_piyo 42:63aedf71f4d1 129 // led1 = interrupt_sholderleft_max;
echo_piyo 42:63aedf71f4d1 130 // led2 = interrupt_sholderleft_min;
echo_piyo 42:63aedf71f4d1 131 // led3 = interrupt_sholderright_max;
echo_piyo 42:63aedf71f4d1 132 // led4 = interrupt_sholderright_min;
echo_piyo 31:285c9898da03 133 //pc.printf("Pulses is: %lo\tdeg :%f\r\n",enc_cylinder.pulse(),enc_cylinder.deg());
echo_piyo 40:2d6888448ab2 134 //pc.printf("rise state : %d\r\n",cyclic_servo.getState());
echo_piyo 0:bf96e953cdb8 135 }
echo_piyo 0:bf96e953cdb8 136 }
echo_piyo 0:bf96e953cdb8 137
echo_piyo 0:bf96e953cdb8 138 void setup()
echo_piyo 0:bf96e953cdb8 139 {
echo_piyo 40:2d6888448ab2 140 wait(2.0);
echo_piyo 19:76a387e4bcf6 141 bno055.begin();
echo_piyo 40:2d6888448ab2 142 wait(1.0);
echo_piyo 19:76a387e4bcf6 143 bno055.firstRead();
echo_piyo 0:bf96e953cdb8 144 pc.baud(pc_baud);
echo_piyo 0:bf96e953cdb8 145 sbdbt.begin(sbdbt_baud);
echo_piyo 0:bf96e953cdb8 146 rs422.begin(rs422_baud);
echo_piyo 38:b071512af5ca 147 cylinder_origin_first();
echo_piyo 42:63aedf71f4d1 148 cylinder_pos_num = 1; //セットアップタイムでの初期装填のため
echo_piyo 0:bf96e953cdb8 149 output_timer.attach(&output, output_period);
echo_piyo 2:d5b8f8e62923 150 yaw_pid.setup(yaw_Kp, yaw_Ki, yaw_Kd);
echo_piyo 39:6735743ac0f1 151 mecanum.setupdeg(bno055.getYawRad()); //基盤が前後逆の場合+180
echo_piyo 4:a6cc2f03e69b 152 v1.setup(acceleration,output_period);
echo_piyo 4:a6cc2f03e69b 153 v2.setup(acceleration,output_period);
echo_piyo 4:a6cc2f03e69b 154 v3.setup(acceleration,output_period);
echo_piyo 4:a6cc2f03e69b 155 v4.setup(acceleration,output_period);
echo_piyo 31:285c9898da03 156 enc_cylinder.setup(100);
echo_piyo 13:dfae731e239f 157 enc_cylinder.set_parameter(enc_Kp,enc_Ki,enc_Kd);
echo_piyo 35:5e1ad00f26fb 158
echo_piyo 35:5e1ad00f26fb 159 //追加
echo_piyo 35:5e1ad00f26fb 160 servo.period(0.020);
echo_piyo 12:1fec80ae8a2c 161 }
echo_piyo 12:1fec80ae8a2c 162
echo_piyo 36:dca1081c19b3 163 //Sword
echo_piyo 35:5e1ad00f26fb 164 float shoulder_right_cal()
echo_piyo 15:0fdf483769bf 165 {
echo_piyo 40:2d6888448ab2 166 if(interrupt_sholderright_max==0&&sbdbt.sankaku==1) {
echo_piyo 31:285c9898da03 167 return 0.0;
echo_piyo 31:285c9898da03 168 }
echo_piyo 40:2d6888448ab2 169 if(interrupt_sholderright_min==0&&sbdbt.batu==1) {
echo_piyo 33:64fd1bd83bac 170 return 0.0;
echo_piyo 31:285c9898da03 171 }
echo_piyo 31:285c9898da03 172 return (-sbdbt.sankaku*0.8+sbdbt.batu*0.8);
echo_piyo 31:285c9898da03 173 }
echo_piyo 31:285c9898da03 174
echo_piyo 35:5e1ad00f26fb 175 float shoulder_left_cal()
echo_piyo 35:5e1ad00f26fb 176 {
echo_piyo 40:2d6888448ab2 177 if(interrupt_sholderleft_max==0&&sbdbt.sankaku==1) {
echo_piyo 31:285c9898da03 178 return 0.0;
echo_piyo 31:285c9898da03 179 }
echo_piyo 40:2d6888448ab2 180 if(interrupt_sholderleft_min==0&&sbdbt.batu==1) {
echo_piyo 35:5e1ad00f26fb 181 return 0.0;
echo_piyo 31:285c9898da03 182 }
echo_piyo 40:2d6888448ab2 183 return (-sbdbt.sankaku*0.8+sbdbt.batu*0.8);
echo_piyo 31:285c9898da03 184 }
echo_piyo 31:285c9898da03 185 void sword_cal()
echo_piyo 31:285c9898da03 186 {
echo_piyo 26:3280d0300b04 187 sword.cyclic(sbdbt.maru);
echo_piyo 17:5c4718c603dc 188 }
echo_piyo 15:0fdf483769bf 189
echo_piyo 36:dca1081c19b3 190 //cylinder
echo_piyo 38:b071512af5ca 191 void cylinder_origin_first()
echo_piyo 31:285c9898da03 192 {
echo_piyo 31:285c9898da03 193 while(interrupt_cylinder_min == 1) {
echo_piyo 40:2d6888448ab2 194 rs422.put(5, -0.4, 0.0);
echo_piyo 12:1fec80ae8a2c 195 }
echo_piyo 31:285c9898da03 196 enc_cylinder.origin();
echo_piyo 0:bf96e953cdb8 197 }
echo_piyo 38:b071512af5ca 198
echo_piyo 42:63aedf71f4d1 199 //cylinder_origin_flagを1にすることで動作する
echo_piyo 38:b071512af5ca 200 void cylinder_origin()
echo_piyo 38:b071512af5ca 201 {
echo_piyo 40:2d6888448ab2 202 if(interrupt_cylinder_min == 0&&cylinder_origin_flag == 1){
echo_piyo 39:6735743ac0f1 203 cylinder_origin_flag = 0;
echo_piyo 39:6735743ac0f1 204 enc_cylinder.origin();
echo_piyo 39:6735743ac0f1 205 cylinder_pos_num = 0;
echo_piyo 40:2d6888448ab2 206 }else if(cylinder_origin_flag == 1){
echo_piyo 42:63aedf71f4d1 207 rs422.put(5, -0.8, 0.0);
echo_piyo 38:b071512af5ca 208 }
echo_piyo 38:b071512af5ca 209 }
echo_piyo 38:b071512af5ca 210
echo_piyo 28:72b9af7e1700 211 //追記(動作未確認)
echo_piyo 19:76a387e4bcf6 212 void cylinder_cal()
echo_piyo 31:285c9898da03 213 {
echo_piyo 31:285c9898da03 214 cylinder.cyclic(sbdbt.shikaku); //cylinder ON/OFF
echo_piyo 35:5e1ad00f26fb 215
echo_piyo 35:5e1ad00f26fb 216 if(riseEvent(sbdbt.right)) { //cylinder degset
echo_piyo 31:285c9898da03 217 cylinder_pos_num++;
echo_piyo 35:5e1ad00f26fb 218 if(cylinder_pos_num >= 3) {
echo_piyo 42:63aedf71f4d1 219 //cylinder_pos_num = 0;
echo_piyo 42:63aedf71f4d1 220 cylinder_origin_flag=1;
echo_piyo 31:285c9898da03 221 }
echo_piyo 31:285c9898da03 222 }
echo_piyo 31:285c9898da03 223 enc_cylinder.cal((float)cylinder_pos[cylinder_pos_num],output_period); //コントローラで数値設定
echo_piyo 35:5e1ad00f26fb 224
echo_piyo 38:b071512af5ca 225 //pc.printf("terget\t%f\tnow_deg\t%f\tnow_pulse\t%d\tpwm\t%f\r\n",cylinder_pos[cylinder_pos_num],enc_cylinder.deg(),enc_cylinder.pulse(),enc_cylinder.duty());
echo_piyo 28:72b9af7e1700 226
echo_piyo 31:285c9898da03 227 //リロード機構完成後
echo_piyo 31:285c9898da03 228 /*
echo_piyo 31:285c9898da03 229 if(cylinder.getInState() == 1){
echo_piyo 31:285c9898da03 230 if(interrupt_cylinder_min)servo_reload = 1.0;
echo_piyo 31:285c9898da03 231 }else{
echo_piyo 31:285c9898da03 232 servo_reload = 0.0;
echo_piyo 31:285c9898da03 233 reload_magazine_flag = 1;
echo_piyo 31:285c9898da03 234 }
echo_piyo 31:285c9898da03 235
echo_piyo 31:285c9898da03 236 if(reload_magazine_flag == 1){
echo_piyo 31:285c9898da03 237 rs422.put(n6_id, 0.8, 0.0);
echo_piyo 31:285c9898da03 238 if(interrupt_reload == 1)reload_magazine_flag = 0;
echo_piyo 31:285c9898da03 239 }
echo_piyo 31:285c9898da03 240 */
echo_piyo 19:76a387e4bcf6 241 }
echo_piyo 38:b071512af5ca 242
echo_piyo 38:b071512af5ca 243 void servo_max(){
echo_piyo 38:b071512af5ca 244 servo.pulsewidth(0.0022);
echo_piyo 35:5e1ad00f26fb 245 }
echo_piyo 38:b071512af5ca 246 void servo_min()
echo_piyo 35:5e1ad00f26fb 247 {
echo_piyo 35:5e1ad00f26fb 248 servo.pulsewidth(0.0010);
echo_piyo 38:b071512af5ca 249 }
echo_piyo 38:b071512af5ca 250 void servo_out(){
echo_piyo 39:6735743ac0f1 251 cyclic_servo.cyclic(sbdbt.down); //setServoControl
echo_piyo 39:6735743ac0f1 252 if(cyclic_servo.getState()==0){
echo_piyo 39:6735743ac0f1 253 servo_min();
echo_piyo 39:6735743ac0f1 254 }else if(cyclic_servo.getState()==1){
echo_piyo 39:6735743ac0f1 255 servo_max();
echo_piyo 38:b071512af5ca 256 }
echo_piyo 35:5e1ad00f26fb 257 }
echo_piyo 35:5e1ad00f26fb 258
echo_piyo 36:dca1081c19b3 259
echo_piyo 36:dca1081c19b3 260 //boost
echo_piyo 31:285c9898da03 261 void boost()
echo_piyo 31:285c9898da03 262 {
echo_piyo 31:285c9898da03 263 if(sbdbt.r2) {
echo_piyo 10:04f2a82cfd89 264 mecanum.boost_forward();
echo_piyo 10:04f2a82cfd89 265 }
echo_piyo 31:285c9898da03 266 if(sbdbt.l2) {
echo_piyo 10:04f2a82cfd89 267 mecanum.boost_back();
echo_piyo 10:04f2a82cfd89 268 }
echo_piyo 26:3280d0300b04 269 /*
echo_piyo 10:04f2a82cfd89 270 if(sbdbt.shikaku) {
echo_piyo 10:04f2a82cfd89 271 mecanum.boost_left();
echo_piyo 10:04f2a82cfd89 272 }
echo_piyo 10:04f2a82cfd89 273 if(sbdbt.maru) {
echo_piyo 10:04f2a82cfd89 274 mecanum.boost_right();
echo_piyo 10:04f2a82cfd89 275 }
echo_piyo 26:3280d0300b04 276 */
echo_piyo 10:04f2a82cfd89 277 }
echo_piyo 10:04f2a82cfd89 278
echo_piyo 36:dca1081c19b3 279 //mecanum
echo_piyo 15:0fdf483769bf 280 void motor_cal()
echo_piyo 5:6efda58ff71b 281 {
echo_piyo 4:a6cc2f03e69b 282 yaw = bno055.getYawRad();
echo_piyo 4:a6cc2f03e69b 283 target_yaw = yaw;
echo_piyo 4:a6cc2f03e69b 284 yaw_pid.cal(target_yaw, yaw, output_period);
echo_piyo 4:a6cc2f03e69b 285 mecanum.sbdbt_cal(sbdbt.left_x, sbdbt.left_y, sbdbt.l1, sbdbt.r1, yaw_pid.duty(), bno055.getYawRad());
echo_piyo 5:6efda58ff71b 286 // pc.printf("%f\t data %f\t %f\t %f\t %f\t\r\n", bno055.getYawRad(), sbdbt.left_x, sbdbt.left_y, mecanum.VX(), mecanum.VY());
echo_piyo 35:5e1ad00f26fb 287 }
echo_piyo 35:5e1ad00f26fb 288 void output()
echo_piyo 35:5e1ad00f26fb 289 {
echo_piyo 35:5e1ad00f26fb 290 motor_cal();
echo_piyo 35:5e1ad00f26fb 291 cylinder_cal();
echo_piyo 35:5e1ad00f26fb 292 sword_cal();
echo_piyo 38:b071512af5ca 293 servo_out();
echo_piyo 38:b071512af5ca 294 cylinder_origin();
echo_piyo 35:5e1ad00f26fb 295 //boost();
echo_piyo 35:5e1ad00f26fb 296
echo_piyo 35:5e1ad00f26fb 297 //インタラプタが反応したとき原点を取る
echo_piyo 38:b071512af5ca 298 if(sbdbt.up) {
echo_piyo 38:b071512af5ca 299 cylinder_origin_flag = 1;
echo_piyo 35:5e1ad00f26fb 300 }
echo_piyo 35:5e1ad00f26fb 301
echo_piyo 43:605e5b0b9106 302 cylinder_reload.cyclic(sbdbt.left);
echo_piyo 35:5e1ad00f26fb 303
echo_piyo 35:5e1ad00f26fb 304 static int counter;
echo_piyo 35:5e1ad00f26fb 305 int id[nucleo_num] = {n1_id, n2_id, n3_id, n4_id, n5_id, n6_id};
echo_piyo 35:5e1ad00f26fb 306 switch (counter) {
echo_piyo 35:5e1ad00f26fb 307 case 0:
echo_piyo 40:2d6888448ab2 308 rs422.put(id[counter], v1.duty((mecanum.v1()*mecanum_power)+(sbdbt.right_y*0.5)), v3.duty((mecanum.v3()*mecanum_power)+(sbdbt.right_y*0.5)));
echo_piyo 35:5e1ad00f26fb 309 counter++;
echo_piyo 35:5e1ad00f26fb 310 break;
echo_piyo 35:5e1ad00f26fb 311 case 1:
echo_piyo 40:2d6888448ab2 312 //.duty(<cal>*<powerControle>+(<boost>*0.5))
echo_piyo 40:2d6888448ab2 313 rs422.put(id[counter], v2.duty((mecanum.v2()*mecanum_power)-(sbdbt.right_y*0.5)), v4.duty((mecanum.v4()*mecanum_power)-(sbdbt.right_y*0.5)));
echo_piyo 35:5e1ad00f26fb 314 counter ++;
echo_piyo 35:5e1ad00f26fb 315 break;
echo_piyo 35:5e1ad00f26fb 316 case 2:
echo_piyo 35:5e1ad00f26fb 317 rs422.put(id[counter], enc_cylinder.duty()*-1, 0.0);
echo_piyo 35:5e1ad00f26fb 318 counter ++;
echo_piyo 35:5e1ad00f26fb 319 break;
echo_piyo 35:5e1ad00f26fb 320 case 3:
echo_piyo 36:dca1081c19b3 321 rs422.put(id[counter], shoulder_right_cal()*sholder_power,-1*shoulder_left_cal()*sholder_power);
echo_piyo 35:5e1ad00f26fb 322 counter ++;
echo_piyo 35:5e1ad00f26fb 323 break;
echo_piyo 35:5e1ad00f26fb 324 case 4:
echo_piyo 35:5e1ad00f26fb 325 rs422.put(id[counter], ((float)sword.getState()*sword_power),0.0);
echo_piyo 35:5e1ad00f26fb 326 counter = 0;
echo_piyo 35:5e1ad00f26fb 327 break;
echo_piyo 35:5e1ad00f26fb 328 default:
echo_piyo 35:5e1ad00f26fb 329 break;
echo_piyo 35:5e1ad00f26fb 330 };
echo_piyo 14:aac2f18f6779 331 }