Diff: main.cpp

Revision:

26:3280d0300b04

Parent:

25:124aee8a7742

Child:

27:2ffbc5587399

--- a/main.cpp	Mon Aug 07 08:48:15 2017 +0000
+++ b/main.cpp	Mon Aug 07 08:56:32 2017 +0000
@@ -61,8 +61,7 @@
 Accel v3;
 Accel v4;
 Cylinder cylinder(pin_cylinder_on,pin_cylinder_off);
-Cyclic sword_left;
-Cyclic sword_right;
+Cyclic sword;
 
 //追加点
 Encoder enc_cylinder(encoder_A,encoder_B);
@@ -74,8 +73,7 @@
 void cylinder_cal();
 void boost();
 void cylinder_origin();
-void sword_left_cal();
-void sword_right_cal();
+void sword_cal();
 float yaw, target_yaw;
 
 
@@ -114,8 +112,7 @@
 {
     motor_cal();
     cylinder_cal();
-    sword_left_cal();
-    sword_right_cal();
+    sword_cal();
     //boost();
 
     static int counter;
@@ -139,7 +136,7 @@
             counter ++;
             break;
         case 4:
-            rs422.put(id[counter], ((float)sword_right.getState()*0.8),((float)sword_left.getState()*0.8));
+            rs422.put(id[counter], ((float)sword.getState()*0.8),0.0);
             counter = 0;
             break;
         default:
@@ -147,12 +144,8 @@
     };
 }
 
-void sword_left_cal(){
-    sword_left.cyclic(sbdbt.left);
-}
-
-void sword_right_cal(){
-    sword_right.cyclic(sbdbt.maru);
+void sword_cal(){
+    sword.cyclic(sbdbt.maru);
 }
 
 void cylinder_origin(){
@@ -165,22 +158,24 @@
 
 void cylinder_cal()
 {
-    cylinder.cyclic(sbdbt.right);
+    cylinder.cyclic(sbdbt.shikaku);
 }
 
 void boost(){
-    if(sbdbt.sankaku) {
+    if(sbdbt.r2){
         mecanum.boost_forward();
     }
-    if(sbdbt.batu) {
+    if(sbdbt.l2){
         mecanum.boost_back();
     }
+    /*
     if(sbdbt.shikaku) {
         mecanum.boost_left();
     }
     if(sbdbt.maru) {
         mecanum.boost_right();
     }
+    */
 }
 
 void motor_cal()