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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
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Diff: main.cpp
- Revision:
- 65:5e4c2e5494ae
- Parent:
- 64:41dcec6c20bc
- Child:
- 66:1664ee92539d
--- a/main.cpp Sat Sep 23 10:10:58 2017 +0000 +++ b/main.cpp Sun Sep 24 01:28:34 2017 +0000 @@ -132,9 +132,9 @@ void setup() { wait(2.0); - //bno055.begin(); + bno055.begin(); wait(1.0); - //bno055.firstRead(); + bno055.firstRead(); pc.baud(pc_baud); sbdbt.begin(sbdbt_baud); rs422.begin(rs422_baud); @@ -182,14 +182,10 @@ //cylinder void firstmotion() { - while(interrupt_cylinder_min == 1 || interrupt_sholderleft_max == 1 || interrupt_sholderright_max == 1){ float cylinder = 0.0; float sholderL = 0.0; float sholderR = 0.0; - led1 = interrupt_sholderleft_max; - led2 = interrupt_sholderleft_min; - led3 = interrupt_sholderright_max; - led4 = interrupt_sholderright_min; + while(interrupt_cylinder_min == 1 || interrupt_sholderleft_max == 1 || interrupt_sholderright_max == 1){ if(interrupt_cylinder_min == 1){ cylinder = 2.0; }else{ @@ -334,7 +330,7 @@ break; case 2: //rs422.put(id[counter], sbdbt.right_y, 0.0); - rs422.put(id[counter], limitf((-1*enc_cylinder.duty_enableWidth(-5.0,5.0)),1.0,-1.0), 0.0); + rs422.put(id[counter], limitf((-1*enc_cylinder.duty_enableWidth(-10.0,10.0)),1.0,-1.0), 0.0); counter ++; break; case 3: