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@42:63aedf71f4d1, 2017-09-08 (annotated)

Committer:
echo_piyo
Date:
Fri Sep 08 05:27:30 2017 +0000
Revision:
42:63aedf71f4d1
Parent:
40:2d6888448ab2
Child:
43:605e5b0b9106
(??)

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 0:bf96e953cdb8 17 #define pc_baud 460800
echo_piyo 0:bf96e953cdb8 18 #define sbdbt_tx p13
echo_piyo 0:bf96e953cdb8 19 #define sbdbt_rx p14
echo_piyo 0:bf96e953cdb8 20 #define sbdbt_baud 115200
echo_piyo 0:bf96e953cdb8 21 #define rs422_tx p28
echo_piyo 0:bf96e953cdb8 22 #define rs422_rx p27
echo_piyo 0:bf96e953cdb8 23 #define rs422_baud 115200
echo_piyo 3:9ef929639c4a 24 #define output_period 0.015
echo_piyo 28:72b9af7e1700 25 #define nucleo_num 6
echo_piyo 0:bf96e953cdb8 26 #define pi 3.141592
echo_piyo 0:bf96e953cdb8 27 #define n1_id 3
echo_piyo 0:bf96e953cdb8 28 #define n2_id 4
echo_piyo 10:04f2a82cfd89 29 #define n3_id 5
echo_piyo 14:aac2f18f6779 30 #define n4_id 6
echo_piyo 14:aac2f18f6779 31 #define n5_id 7
echo_piyo 28:72b9af7e1700 32 #define n6_id 8
echo_piyo 5:6efda58ff71b 33 #define yaw_Kp 0.01
echo_piyo 5:6efda58ff71b 34 #define yaw_Ki 0.01
echo_piyo 5:6efda58ff71b 35 #define yaw_Kd 0.01
echo_piyo 40:2d6888448ab2 36 #define acceleration 20 //25
echo_piyo 10:04f2a82cfd89 37 #define pin_cylinder_on p17
echo_piyo 10:04f2a82cfd89 38 #define pin_cylinder_off p18
echo_piyo 31:285c9898da03 39 #define pin_interrupt_cylinder_min p23
echo_piyo 12:1fec80ae8a2c 40 #define encoder_A p25
echo_piyo 12:1fec80ae8a2c 41 #define encoder_B p26
echo_piyo 40:2d6888448ab2 42 #define enc_Kp 0.0400
echo_piyo 33:64fd1bd83bac 43 #define enc_Ki 0.0001
echo_piyo 33:64fd1bd83bac 44 #define enc_Kd 0.0003
echo_piyo 34:02d605c68bf3 45 #define mecanum_power 1.0
echo_piyo 33:64fd1bd83bac 46 #define sword_power 0.8
echo_piyo 33:64fd1bd83bac 47 #define sholder_power 0.8
echo_piyo 37:fa738e34c4d3 48 #define pin_interrupt_sholderright_max p11 //p21
echo_piyo 37:fa738e34c4d3 49 #define pin_interrupt_sholderright_min p12 //p22
echo_piyo 33:64fd1bd83bac 50 #define pin_interrupt_sholderleft_max p7
echo_piyo 33:64fd1bd83bac 51 #define pin_interrupt_sholderleft_min p8
echo_piyo 37:fa738e34c4d3 52 #define pin_servo p21
echo_piyo 35:5e1ad00f26fb 53 #define servo_reload_time 1.0
echo_piyo 42:63aedf71f4d1 54 #define pin_cylinder_reload LED1
echo_piyo 35:5e1ad00f26fb 55 //#define pin_servo_reload p29 //
echo_piyo 35:5e1ad00f26fb 56 //#define pin_interrupt_reload p30 //
echo_piyo 0:bf96e953cdb8 57
echo_piyo 42:63aedf71f4d1 58 //DigitalOut led1(LED1);
echo_piyo 42:63aedf71f4d1 59 //DigitalOut led2(LED2);
echo_piyo 42:63aedf71f4d1 60 //DigitalOut led3(LED3);
echo_piyo 42:63aedf71f4d1 61 //DigitalOut led4(LED4);
echo_piyo 31:285c9898da03 62 DigitalIn interrupt_cylinder_min(pin_interrupt_cylinder_min);
echo_piyo 0:bf96e953cdb8 63 Serial pc(USBTX,USBRX);
echo_piyo 0:bf96e953cdb8 64 RS422 rs422(rs422_tx, rs422_rx);
echo_piyo 0:bf96e953cdb8 65 Sbdbt sbdbt(sbdbt_tx, sbdbt_rx);
echo_piyo 0:bf96e953cdb8 66 Ticker output_timer;
echo_piyo 0:bf96e953cdb8 67 Mecanum mecanum;
echo_piyo 0:bf96e953cdb8 68 Bno055 bno055;
echo_piyo 2:d5b8f8e62923 69 Position_pid yaw_pid;
echo_piyo 4:a6cc2f03e69b 70 Accel v1;
echo_piyo 4:a6cc2f03e69b 71 Accel v2;
echo_piyo 4:a6cc2f03e69b 72 Accel v3;
echo_piyo 4:a6cc2f03e69b 73 Accel v4;
echo_piyo 15:0fdf483769bf 74 Cylinder cylinder(pin_cylinder_on,pin_cylinder_off);
echo_piyo 26:3280d0300b04 75 Cyclic sword;
echo_piyo 31:285c9898da03 76 Cyclic cyclic_cylinder_position;
echo_piyo 31:285c9898da03 77 DigitalIn interrupt_sholderright_min(pin_interrupt_sholderright_min);
echo_piyo 31:285c9898da03 78 DigitalIn interrupt_sholderright_max(pin_interrupt_sholderright_max);
echo_piyo 31:285c9898da03 79 DigitalIn interrupt_sholderleft_min(pin_interrupt_sholderleft_min);
echo_piyo 31:285c9898da03 80 DigitalIn interrupt_sholderleft_max(pin_interrupt_sholderleft_max);
echo_piyo 35:5e1ad00f26fb 81 Encoder enc_cylinder(encoder_A,encoder_B);
echo_piyo 38:b071512af5ca 82 Cyclic cyclic_servo;
echo_piyo 42:63aedf71f4d1 83 Cyclic_IO cylinder_reload(pin_cylinder_reload);
echo_piyo 31:285c9898da03 84
echo_piyo 35:5e1ad00f26fb 85 //追加
echo_piyo 35:5e1ad00f26fb 86 PwmOut servo(pin_servo);
echo_piyo 35:5e1ad00f26fb 87 Timeout timer_servo;
echo_piyo 33:64fd1bd83bac 88 //Servo servo_reload(pin_servo_reload);
echo_piyo 33:64fd1bd83bac 89 //DigitalIn interrupt_reload(pin_interrupt_reload);
echo_piyo 9:6486f4b3ac50 90
echo_piyo 0:bf96e953cdb8 91 void setup();
echo_piyo 0:bf96e953cdb8 92 void output();
echo_piyo 15:0fdf483769bf 93 void motor_cal();
echo_piyo 16:e49df474e4c6 94 void cylinder_cal();
echo_piyo 10:04f2a82cfd89 95 void boost();
echo_piyo 12:1fec80ae8a2c 96 void cylinder_origin();
echo_piyo 38:b071512af5ca 97 void cylinder_origin_first();
echo_piyo 26:3280d0300b04 98 void sword_cal();
echo_piyo 35:5e1ad00f26fb 99 void servo_origin();
echo_piyo 31:285c9898da03 100 float shoulder_right_cal();
echo_piyo 31:285c9898da03 101 float shoulder_left_cal();
echo_piyo 42:63aedf71f4d1 102
echo_piyo 39:6735743ac0f1 103 //output
echo_piyo 2:d5b8f8e62923 104 float yaw, target_yaw;
echo_piyo 39:6735743ac0f1 105 //cylinder_origin
echo_piyo 38:b071512af5ca 106 int cylinder_origin_flag = 0;
echo_piyo 39:6735743ac0f1 107 //cylinder
echo_piyo 39:6735743ac0f1 108 float cylinder_pwm;
echo_piyo 39:6735743ac0f1 109 int cylinder_pos_num = 0;
echo_piyo 42:63aedf71f4d1 110 float cylinder_pos[3] = {0.0,90.0,325.0};
echo_piyo 0:bf96e953cdb8 111
echo_piyo 31:285c9898da03 112 //riseEventそのうちClassにしたい
echo_piyo 31:285c9898da03 113 short state;
echo_piyo 31:285c9898da03 114 int riseEvent(int input)
echo_piyo 31:285c9898da03 115 {
echo_piyo 31:285c9898da03 116 state = ((state<<1)|input)&3;
echo_piyo 31:285c9898da03 117 if(state == 1) {
echo_piyo 31:285c9898da03 118 return 1;
echo_piyo 31:285c9898da03 119 } else {
echo_piyo 31:285c9898da03 120 return 0;
echo_piyo 31:285c9898da03 121 }
echo_piyo 31:285c9898da03 122 }
echo_piyo 31:285c9898da03 123
echo_piyo 0:bf96e953cdb8 124 int main()
echo_piyo 0:bf96e953cdb8 125 {
echo_piyo 0:bf96e953cdb8 126 setup();
echo_piyo 2:d5b8f8e62923 127 while(1) {
echo_piyo 42:63aedf71f4d1 128 // led1 = interrupt_sholderleft_max;
echo_piyo 42:63aedf71f4d1 129 // led2 = interrupt_sholderleft_min;
echo_piyo 42:63aedf71f4d1 130 // led3 = interrupt_sholderright_max;
echo_piyo 42:63aedf71f4d1 131 // led4 = interrupt_sholderright_min;
echo_piyo 31:285c9898da03 132 //pc.printf("Pulses is: %lo\tdeg :%f\r\n",enc_cylinder.pulse(),enc_cylinder.deg());
echo_piyo 40:2d6888448ab2 133 //pc.printf("rise state : %d\r\n",cyclic_servo.getState());
echo_piyo 0:bf96e953cdb8 134 }
echo_piyo 0:bf96e953cdb8 135 }
echo_piyo 0:bf96e953cdb8 136
echo_piyo 0:bf96e953cdb8 137 void setup()
echo_piyo 0:bf96e953cdb8 138 {
echo_piyo 40:2d6888448ab2 139 wait(2.0);
echo_piyo 19:76a387e4bcf6 140 bno055.begin();
echo_piyo 40:2d6888448ab2 141 wait(1.0);
echo_piyo 19:76a387e4bcf6 142 bno055.firstRead();
echo_piyo 0:bf96e953cdb8 143 pc.baud(pc_baud);
echo_piyo 0:bf96e953cdb8 144 sbdbt.begin(sbdbt_baud);
echo_piyo 0:bf96e953cdb8 145 rs422.begin(rs422_baud);
echo_piyo 38:b071512af5ca 146 cylinder_origin_first();
echo_piyo 42:63aedf71f4d1 147 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 148 output_timer.attach(&output, output_period);
echo_piyo 2:d5b8f8e62923 149 yaw_pid.setup(yaw_Kp, yaw_Ki, yaw_Kd);
echo_piyo 39:6735743ac0f1 150 mecanum.setupdeg(bno055.getYawRad()); //基盤が前後逆の場合+180
echo_piyo 4:a6cc2f03e69b 151 v1.setup(acceleration,output_period);
echo_piyo 4:a6cc2f03e69b 152 v2.setup(acceleration,output_period);
echo_piyo 4:a6cc2f03e69b 153 v3.setup(acceleration,output_period);
echo_piyo 4:a6cc2f03e69b 154 v4.setup(acceleration,output_period);
echo_piyo 31:285c9898da03 155 enc_cylinder.setup(100);
echo_piyo 13:dfae731e239f 156 enc_cylinder.set_parameter(enc_Kp,enc_Ki,enc_Kd);
echo_piyo 35:5e1ad00f26fb 157
echo_piyo 35:5e1ad00f26fb 158 //追加
echo_piyo 35:5e1ad00f26fb 159 servo.period(0.020);
echo_piyo 12:1fec80ae8a2c 160 }
echo_piyo 12:1fec80ae8a2c 161
echo_piyo 36:dca1081c19b3 162 //Sword
echo_piyo 35:5e1ad00f26fb 163 float shoulder_right_cal()
echo_piyo 15:0fdf483769bf 164 {
echo_piyo 40:2d6888448ab2 165 if(interrupt_sholderright_max==0&&sbdbt.sankaku==1) {
echo_piyo 31:285c9898da03 166 return 0.0;
echo_piyo 31:285c9898da03 167 }
echo_piyo 40:2d6888448ab2 168 if(interrupt_sholderright_min==0&&sbdbt.batu==1) {
echo_piyo 33:64fd1bd83bac 169 return 0.0;
echo_piyo 31:285c9898da03 170 }
echo_piyo 31:285c9898da03 171 return (-sbdbt.sankaku*0.8+sbdbt.batu*0.8);
echo_piyo 31:285c9898da03 172 }
echo_piyo 31:285c9898da03 173
echo_piyo 35:5e1ad00f26fb 174 float shoulder_left_cal()
echo_piyo 35:5e1ad00f26fb 175 {
echo_piyo 40:2d6888448ab2 176 if(interrupt_sholderleft_max==0&&sbdbt.sankaku==1) {
echo_piyo 31:285c9898da03 177 return 0.0;
echo_piyo 31:285c9898da03 178 }
echo_piyo 40:2d6888448ab2 179 if(interrupt_sholderleft_min==0&&sbdbt.batu==1) {
echo_piyo 35:5e1ad00f26fb 180 return 0.0;
echo_piyo 31:285c9898da03 181 }
echo_piyo 40:2d6888448ab2 182 return (-sbdbt.sankaku*0.8+sbdbt.batu*0.8);
echo_piyo 31:285c9898da03 183 }
echo_piyo 31:285c9898da03 184 void sword_cal()
echo_piyo 31:285c9898da03 185 {
echo_piyo 26:3280d0300b04 186 sword.cyclic(sbdbt.maru);
echo_piyo 17:5c4718c603dc 187 }
echo_piyo 15:0fdf483769bf 188
echo_piyo 36:dca1081c19b3 189 //cylinder
echo_piyo 38:b071512af5ca 190 void cylinder_origin_first()
echo_piyo 31:285c9898da03 191 {
echo_piyo 31:285c9898da03 192 while(interrupt_cylinder_min == 1) {
echo_piyo 40:2d6888448ab2 193 rs422.put(5, -0.4, 0.0);
echo_piyo 12:1fec80ae8a2c 194 }
echo_piyo 31:285c9898da03 195 enc_cylinder.origin();
echo_piyo 0:bf96e953cdb8 196 }
echo_piyo 38:b071512af5ca 197
echo_piyo 42:63aedf71f4d1 198 //cylinder_origin_flagを1にすることで動作する
echo_piyo 38:b071512af5ca 199 void cylinder_origin()
echo_piyo 38:b071512af5ca 200 {
echo_piyo 40:2d6888448ab2 201 if(interrupt_cylinder_min == 0&&cylinder_origin_flag == 1){
echo_piyo 39:6735743ac0f1 202 cylinder_origin_flag = 0;
echo_piyo 39:6735743ac0f1 203 enc_cylinder.origin();
echo_piyo 39:6735743ac0f1 204 cylinder_pos_num = 0;
echo_piyo 40:2d6888448ab2 205 }else if(cylinder_origin_flag == 1){
echo_piyo 42:63aedf71f4d1 206 rs422.put(5, -0.8, 0.0);
echo_piyo 38:b071512af5ca 207 }
echo_piyo 38:b071512af5ca 208 }
echo_piyo 38:b071512af5ca 209
echo_piyo 28:72b9af7e1700 210 //追記(動作未確認)
echo_piyo 19:76a387e4bcf6 211 void cylinder_cal()
echo_piyo 31:285c9898da03 212 {
echo_piyo 31:285c9898da03 213 cylinder.cyclic(sbdbt.shikaku); //cylinder ON/OFF
echo_piyo 35:5e1ad00f26fb 214
echo_piyo 35:5e1ad00f26fb 215 if(riseEvent(sbdbt.right)) { //cylinder degset
echo_piyo 31:285c9898da03 216 cylinder_pos_num++;
echo_piyo 35:5e1ad00f26fb 217 if(cylinder_pos_num >= 3) {
echo_piyo 42:63aedf71f4d1 218 //cylinder_pos_num = 0;
echo_piyo 42:63aedf71f4d1 219 cylinder_origin_flag=1;
echo_piyo 31:285c9898da03 220 }
echo_piyo 31:285c9898da03 221 }
echo_piyo 31:285c9898da03 222 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 223
echo_piyo 38:b071512af5ca 224 //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 225
echo_piyo 31:285c9898da03 226 //リロード機構完成後
echo_piyo 31:285c9898da03 227 /*
echo_piyo 31:285c9898da03 228 if(cylinder.getInState() == 1){
echo_piyo 31:285c9898da03 229 if(interrupt_cylinder_min)servo_reload = 1.0;
echo_piyo 31:285c9898da03 230 }else{
echo_piyo 31:285c9898da03 231 servo_reload = 0.0;
echo_piyo 31:285c9898da03 232 reload_magazine_flag = 1;
echo_piyo 31:285c9898da03 233 }
echo_piyo 31:285c9898da03 234
echo_piyo 31:285c9898da03 235 if(reload_magazine_flag == 1){
echo_piyo 31:285c9898da03 236 rs422.put(n6_id, 0.8, 0.0);
echo_piyo 31:285c9898da03 237 if(interrupt_reload == 1)reload_magazine_flag = 0;
echo_piyo 31:285c9898da03 238 }
echo_piyo 31:285c9898da03 239 */
echo_piyo 19:76a387e4bcf6 240 }
echo_piyo 38:b071512af5ca 241
echo_piyo 38:b071512af5ca 242 void servo_max(){
echo_piyo 38:b071512af5ca 243 servo.pulsewidth(0.0022);
echo_piyo 35:5e1ad00f26fb 244 }
echo_piyo 38:b071512af5ca 245 void servo_min()
echo_piyo 35:5e1ad00f26fb 246 {
echo_piyo 35:5e1ad00f26fb 247 servo.pulsewidth(0.0010);
echo_piyo 38:b071512af5ca 248 }
echo_piyo 38:b071512af5ca 249 void servo_out(){
echo_piyo 39:6735743ac0f1 250 cyclic_servo.cyclic(sbdbt.down); //setServoControl
echo_piyo 39:6735743ac0f1 251 if(cyclic_servo.getState()==0){
echo_piyo 39:6735743ac0f1 252 servo_min();
echo_piyo 39:6735743ac0f1 253 }else if(cyclic_servo.getState()==1){
echo_piyo 39:6735743ac0f1 254 servo_max();
echo_piyo 38:b071512af5ca 255 }
echo_piyo 35:5e1ad00f26fb 256 }
echo_piyo 35:5e1ad00f26fb 257
echo_piyo 36:dca1081c19b3 258
echo_piyo 36:dca1081c19b3 259 //boost
echo_piyo 31:285c9898da03 260 void boost()
echo_piyo 31:285c9898da03 261 {
echo_piyo 31:285c9898da03 262 if(sbdbt.r2) {
echo_piyo 10:04f2a82cfd89 263 mecanum.boost_forward();
echo_piyo 10:04f2a82cfd89 264 }
echo_piyo 31:285c9898da03 265 if(sbdbt.l2) {
echo_piyo 10:04f2a82cfd89 266 mecanum.boost_back();
echo_piyo 10:04f2a82cfd89 267 }
echo_piyo 26:3280d0300b04 268 /*
echo_piyo 10:04f2a82cfd89 269 if(sbdbt.shikaku) {
echo_piyo 10:04f2a82cfd89 270 mecanum.boost_left();
echo_piyo 10:04f2a82cfd89 271 }
echo_piyo 10:04f2a82cfd89 272 if(sbdbt.maru) {
echo_piyo 10:04f2a82cfd89 273 mecanum.boost_right();
echo_piyo 10:04f2a82cfd89 274 }
echo_piyo 26:3280d0300b04 275 */
echo_piyo 10:04f2a82cfd89 276 }
echo_piyo 10:04f2a82cfd89 277
echo_piyo 36:dca1081c19b3 278 //mecanum
echo_piyo 15:0fdf483769bf 279 void motor_cal()
echo_piyo 5:6efda58ff71b 280 {
echo_piyo 4:a6cc2f03e69b 281 yaw = bno055.getYawRad();
echo_piyo 4:a6cc2f03e69b 282 target_yaw = yaw;
echo_piyo 4:a6cc2f03e69b 283 yaw_pid.cal(target_yaw, yaw, output_period);
echo_piyo 4:a6cc2f03e69b 284 mecanum.sbdbt_cal(sbdbt.left_x, sbdbt.left_y, sbdbt.l1, sbdbt.r1, yaw_pid.duty(), bno055.getYawRad());
echo_piyo 5:6efda58ff71b 285 // 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 286 }
echo_piyo 35:5e1ad00f26fb 287 void output()
echo_piyo 35:5e1ad00f26fb 288 {
echo_piyo 35:5e1ad00f26fb 289 motor_cal();
echo_piyo 35:5e1ad00f26fb 290 cylinder_cal();
echo_piyo 35:5e1ad00f26fb 291 sword_cal();
echo_piyo 38:b071512af5ca 292 servo_out();
echo_piyo 38:b071512af5ca 293 cylinder_origin();
echo_piyo 35:5e1ad00f26fb 294 //boost();
echo_piyo 35:5e1ad00f26fb 295
echo_piyo 35:5e1ad00f26fb 296 //インタラプタが反応したとき原点を取る
echo_piyo 38:b071512af5ca 297 if(sbdbt.up) {
echo_piyo 38:b071512af5ca 298 cylinder_origin_flag = 1;
echo_piyo 35:5e1ad00f26fb 299 }
echo_piyo 35:5e1ad00f26fb 300
echo_piyo 35:5e1ad00f26fb 301 if(sbdbt.left) {
echo_piyo 35:5e1ad00f26fb 302 cylinder_origin();
echo_piyo 35:5e1ad00f26fb 303 }
echo_piyo 35:5e1ad00f26fb 304
echo_piyo 42:63aedf71f4d1 305 cylinder_reload.cyclic(sbdbt.right);
echo_piyo 42:63aedf71f4d1 306
echo_piyo 35:5e1ad00f26fb 307
echo_piyo 35:5e1ad00f26fb 308 static int counter;
echo_piyo 35:5e1ad00f26fb 309 int id[nucleo_num] = {n1_id, n2_id, n3_id, n4_id, n5_id, n6_id};
echo_piyo 35:5e1ad00f26fb 310 switch (counter) {
echo_piyo 35:5e1ad00f26fb 311 case 0:
echo_piyo 40:2d6888448ab2 312 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 313 counter++;
echo_piyo 35:5e1ad00f26fb 314 break;
echo_piyo 35:5e1ad00f26fb 315 case 1:
echo_piyo 40:2d6888448ab2 316 //.duty(<cal>*<powerControle>+(<boost>*0.5))
echo_piyo 40:2d6888448ab2 317 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 318 counter ++;
echo_piyo 35:5e1ad00f26fb 319 break;
echo_piyo 35:5e1ad00f26fb 320 case 2:
echo_piyo 35:5e1ad00f26fb 321 rs422.put(id[counter], enc_cylinder.duty()*-1, 0.0);
echo_piyo 35:5e1ad00f26fb 322 counter ++;
echo_piyo 35:5e1ad00f26fb 323 break;
echo_piyo 35:5e1ad00f26fb 324 case 3:
echo_piyo 36:dca1081c19b3 325 rs422.put(id[counter], shoulder_right_cal()*sholder_power,-1*shoulder_left_cal()*sholder_power);
echo_piyo 35:5e1ad00f26fb 326 counter ++;
echo_piyo 35:5e1ad00f26fb 327 break;
echo_piyo 35:5e1ad00f26fb 328 case 4:
echo_piyo 35:5e1ad00f26fb 329 rs422.put(id[counter], ((float)sword.getState()*sword_power),0.0);
echo_piyo 35:5e1ad00f26fb 330 counter = 0;
echo_piyo 35:5e1ad00f26fb 331 break;
echo_piyo 35:5e1ad00f26fb 332 default:
echo_piyo 35:5e1ad00f26fb 333 break;
echo_piyo 35:5e1ad00f26fb 334 };
echo_piyo 14:aac2f18f6779 335 }