Diff: main.cpp

Revision:

75:cd507886ee57

Parent:

74:98bad67fde39

Child:

76:03475cafb326

--- a/main.cpp	Sun Oct 22 10:55:47 2017 +0000
+++ b/main.cpp	Sun Oct 22 11:18:08 2017 +0000
@@ -24,15 +24,15 @@
 #define RS422_RX    p27
 #define CONTROL_INDICATOR p11
 
-#define SHOULDER_LEFT_HIGH p1
-#define SHOULDER_LEFT_LOW p1
-#define SHOULDER_RIGHT_HIGH p2
-#define SHOULDER_RIGHT_LOW p2
+#define SHOULDER_LEFT_HIGH p6
+#define SHOULDER_LEFT_LOW p7
+#define SHOULDER_RIGHT_HIGH p8
+#define SHOULDER_RIGHT_LOW p9
 
-#define GROUND_ENCORDER_X_A p3
-#define GROUND_ENCORDER_X_B p4
-#define GROUND_ENCORDER_Y_A p5
-#define GROUND_ENCORDER_Y_B p6
+#define GROUND_ENCORDER_X_A p10
+#define GROUND_ENCORDER_X_B p11
+#define GROUND_ENCORDER_Y_A p12
+#define GROUND_ENCORDER_Y_B p13
 
 #define GUN_ENCORDER_A p7
 #define GUN_ENCORDER_B p8
@@ -95,6 +95,12 @@
 CyclicVar   swordSwingCyclic;
 DigitalOut  controlIndigator(CONTROL_INDICATOR);
 
+//全国大会用追記
+Cylinder shoulderLeft(SHOULDER_LEFT_HIGH,SHOULDER_LEFT_LOW);
+Cylinder shoulderRight(SHOULDER_RIGHT_HIGH,SHOULDER_RIGHT_LOW);
+eventVar eventShikaku;
+eventVar eventSankaku;
+
 
 int main()
 {
@@ -105,6 +111,16 @@
     }
 }
 
+void shoulder(){
+    shoulderLeft.cyclic(eventShikaku.getRise());
+    shoulderRight.cyclic(eventSankaku.getRise());
+}
+
+void controllerEvent(){
+    eventShikaku.input(sbdbt.shikaku);
+    eventSankaku.input(sbdbt.sankaku);
+}
+
 void setup()
 {
     wait(1.0);