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

Diff: main.cpp

Revision:
34:02d605c68bf3
Parent:
33:64fd1bd83bac
Child:
35:5e1ad00f26fb
--- a/main.cpp	Tue Aug 29 06:56:32 2017 +0000
+++ b/main.cpp	Tue Aug 29 11:30:28 2017 +0000
@@ -44,7 +44,7 @@
 #define enc_Kp      0.005
 #define enc_Ki      0.0001
 #define enc_Kd      0.0003
-#define mecanum_power   0.8
+#define mecanum_power   1.0
 #define sword_power     0.8
 #define sholder_power   0.8
 //#define pin_servo_reload p29 //
@@ -172,7 +172,7 @@
             counter ++;
             break;
         case 3:
-            rs422.put(id[counter], shoulder_right_cal()*sholder_power,shoulder_left_cal()*sholder_power);
+            rs422.put(id[counter], shoulder_right_cal()*sholder_power,-1*shoulder_right_cal()*sholder_power);
             counter ++;
             break;
         case 4: