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@39:6735743ac0f1, 2017-09-07 (annotated)

Committer:
echo_piyo
Date:
Thu Sep 07 06:58:57 2017 +0000
Revision:
39:6735743ac0f1
Parent:
38:b071512af5ca
Child:
40:2d6888448ab2
(?)???????boost????????????; ??????????????????; ???????????????????????????????????

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 10:04f2a82cfd89 36 #define acceleration 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 39:6735743ac0f1 42 #define enc_Kp 0.007
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 35:5e1ad00f26fb 54 //#define pin_servo_reload p29 //
echo_piyo 35:5e1ad00f26fb 55 //#define pin_interrupt_reload p30 //
echo_piyo 0:bf96e953cdb8 56
echo_piyo 13:dfae731e239f 57 DigitalOut led1(LED1);
echo_piyo 15:0fdf483769bf 58 //DigitalOut led2(LED2);
echo_piyo 15:0fdf483769bf 59 DigitalOut led3(LED3);
echo_piyo 15:0fdf483769bf 60 //DigitalOut led4(LED4);
echo_piyo 31:285c9898da03 61 DigitalIn interrupt_cylinder_min(pin_interrupt_cylinder_min);
echo_piyo 0:bf96e953cdb8 62 Serial pc(USBTX,USBRX);
echo_piyo 0:bf96e953cdb8 63 RS422 rs422(rs422_tx, rs422_rx);
echo_piyo 0:bf96e953cdb8 64 Sbdbt sbdbt(sbdbt_tx, sbdbt_rx);
echo_piyo 0:bf96e953cdb8 65 Ticker output_timer;
echo_piyo 0:bf96e953cdb8 66 Mecanum mecanum;
echo_piyo 0:bf96e953cdb8 67 Bno055 bno055;
echo_piyo 2:d5b8f8e62923 68 Position_pid yaw_pid;
echo_piyo 4:a6cc2f03e69b 69 Accel v1;
echo_piyo 4:a6cc2f03e69b 70 Accel v2;
echo_piyo 4:a6cc2f03e69b 71 Accel v3;
echo_piyo 4:a6cc2f03e69b 72 Accel v4;
echo_piyo 15:0fdf483769bf 73 Cylinder cylinder(pin_cylinder_on,pin_cylinder_off);
echo_piyo 26:3280d0300b04 74 Cyclic sword;
echo_piyo 31:285c9898da03 75 Cyclic cyclic_cylinder_position;
echo_piyo 31:285c9898da03 76 DigitalIn interrupt_sholderright_min(pin_interrupt_sholderright_min);
echo_piyo 31:285c9898da03 77 DigitalIn interrupt_sholderright_max(pin_interrupt_sholderright_max);
echo_piyo 31:285c9898da03 78 DigitalIn interrupt_sholderleft_min(pin_interrupt_sholderleft_min);
echo_piyo 31:285c9898da03 79 DigitalIn interrupt_sholderleft_max(pin_interrupt_sholderleft_max);
echo_piyo 35:5e1ad00f26fb 80 Encoder enc_cylinder(encoder_A,encoder_B);
echo_piyo 38:b071512af5ca 81 Cyclic cyclic_servo;
echo_piyo 31:285c9898da03 82
echo_piyo 35:5e1ad00f26fb 83 //追加
echo_piyo 35:5e1ad00f26fb 84 PwmOut servo(pin_servo);
echo_piyo 35:5e1ad00f26fb 85 Timeout timer_servo;
echo_piyo 33:64fd1bd83bac 86 //Servo servo_reload(pin_servo_reload);
echo_piyo 33:64fd1bd83bac 87 //DigitalIn interrupt_reload(pin_interrupt_reload);
echo_piyo 9:6486f4b3ac50 88
echo_piyo 0:bf96e953cdb8 89 void setup();
echo_piyo 0:bf96e953cdb8 90 void output();
echo_piyo 15:0fdf483769bf 91 void motor_cal();
echo_piyo 16:e49df474e4c6 92 void cylinder_cal();
echo_piyo 10:04f2a82cfd89 93 void boost();
echo_piyo 12:1fec80ae8a2c 94 void cylinder_origin();
echo_piyo 38:b071512af5ca 95 void cylinder_origin_first();
echo_piyo 26:3280d0300b04 96 void sword_cal();
echo_piyo 35:5e1ad00f26fb 97 void cylinder_reload();
echo_piyo 35:5e1ad00f26fb 98 void servo_origin();
echo_piyo 31:285c9898da03 99 float shoulder_right_cal();
echo_piyo 31:285c9898da03 100 float shoulder_left_cal();
echo_piyo 39:6735743ac0f1 101 //output
echo_piyo 2:d5b8f8e62923 102 float yaw, target_yaw;
echo_piyo 39:6735743ac0f1 103 //cylinder_origin
echo_piyo 38:b071512af5ca 104 int cylinder_origin_flag = 0;
echo_piyo 39:6735743ac0f1 105 //cylinder
echo_piyo 39:6735743ac0f1 106 float cylinder_pwm;
echo_piyo 39:6735743ac0f1 107 int cylinder_pos_num = 0;
echo_piyo 39:6735743ac0f1 108 float cylinder_pos[3] = {0.0,180.0,360.0};
echo_piyo 0:bf96e953cdb8 109
echo_piyo 31:285c9898da03 110 //riseEventそのうちClassにしたい
echo_piyo 31:285c9898da03 111 short state;
echo_piyo 31:285c9898da03 112 int riseEvent(int input)
echo_piyo 31:285c9898da03 113 {
echo_piyo 31:285c9898da03 114 state = ((state<<1)|input)&3;
echo_piyo 31:285c9898da03 115 if(state == 1) {
echo_piyo 31:285c9898da03 116 return 1;
echo_piyo 31:285c9898da03 117 } else {
echo_piyo 31:285c9898da03 118 return 0;
echo_piyo 31:285c9898da03 119 }
echo_piyo 31:285c9898da03 120 }
echo_piyo 31:285c9898da03 121
echo_piyo 0:bf96e953cdb8 122 int main()
echo_piyo 0:bf96e953cdb8 123 {
echo_piyo 0:bf96e953cdb8 124 setup();
echo_piyo 2:d5b8f8e62923 125 while(1) {
echo_piyo 31:285c9898da03 126 //pc.printf("Pulses is: %lo\tdeg :%f\r\n",enc_cylinder.pulse(),enc_cylinder.deg());
echo_piyo 39:6735743ac0f1 127 pc.printf("rise state : %d\r\n",cyclic_servo.getState());
echo_piyo 0:bf96e953cdb8 128 }
echo_piyo 0:bf96e953cdb8 129 }
echo_piyo 0:bf96e953cdb8 130
echo_piyo 0:bf96e953cdb8 131 void setup()
echo_piyo 0:bf96e953cdb8 132 {
echo_piyo 35:5e1ad00f26fb 133 wait(0.5);
echo_piyo 19:76a387e4bcf6 134 bno055.begin();
echo_piyo 35:5e1ad00f26fb 135 wait(0.5);
echo_piyo 19:76a387e4bcf6 136 bno055.firstRead();
echo_piyo 0:bf96e953cdb8 137 pc.baud(pc_baud);
echo_piyo 0:bf96e953cdb8 138 sbdbt.begin(sbdbt_baud);
echo_piyo 0:bf96e953cdb8 139 rs422.begin(rs422_baud);
echo_piyo 38:b071512af5ca 140 cylinder_origin_first();
echo_piyo 0:bf96e953cdb8 141 output_timer.attach(&output, output_period);
echo_piyo 2:d5b8f8e62923 142 yaw_pid.setup(yaw_Kp, yaw_Ki, yaw_Kd);
echo_piyo 39:6735743ac0f1 143 mecanum.setupdeg(bno055.getYawRad()); //基盤が前後逆の場合+180
echo_piyo 4:a6cc2f03e69b 144 v1.setup(acceleration,output_period);
echo_piyo 4:a6cc2f03e69b 145 v2.setup(acceleration,output_period);
echo_piyo 4:a6cc2f03e69b 146 v3.setup(acceleration,output_period);
echo_piyo 4:a6cc2f03e69b 147 v4.setup(acceleration,output_period);
echo_piyo 31:285c9898da03 148 enc_cylinder.setup(100);
echo_piyo 13:dfae731e239f 149 enc_cylinder.set_parameter(enc_Kp,enc_Ki,enc_Kd);
echo_piyo 35:5e1ad00f26fb 150
echo_piyo 35:5e1ad00f26fb 151 //追加
echo_piyo 35:5e1ad00f26fb 152 servo.period(0.020);
echo_piyo 12:1fec80ae8a2c 153 }
echo_piyo 12:1fec80ae8a2c 154
echo_piyo 36:dca1081c19b3 155 //Sword
echo_piyo 35:5e1ad00f26fb 156 float shoulder_right_cal()
echo_piyo 15:0fdf483769bf 157 {
echo_piyo 35:5e1ad00f26fb 158 if(interrupt_sholderright_max==0&&sbdbt.sankaku) {
echo_piyo 31:285c9898da03 159 return 0.0;
echo_piyo 31:285c9898da03 160 }
echo_piyo 35:5e1ad00f26fb 161 if(interrupt_sholderright_min==0&&sbdbt.batu) {
echo_piyo 33:64fd1bd83bac 162 return 0.0;
echo_piyo 31:285c9898da03 163 }
echo_piyo 31:285c9898da03 164 return (-sbdbt.sankaku*0.8+sbdbt.batu*0.8);
echo_piyo 31:285c9898da03 165 }
echo_piyo 31:285c9898da03 166
echo_piyo 35:5e1ad00f26fb 167 float shoulder_left_cal()
echo_piyo 35:5e1ad00f26fb 168 {
echo_piyo 35:5e1ad00f26fb 169 if(interrupt_sholderleft_max==0&&sbdbt.up==1) {
echo_piyo 31:285c9898da03 170 return 0.0;
echo_piyo 31:285c9898da03 171 }
echo_piyo 35:5e1ad00f26fb 172 if(interrupt_sholderleft_min==0&&sbdbt.down==1) {
echo_piyo 35:5e1ad00f26fb 173 return 0.0;
echo_piyo 31:285c9898da03 174 }
echo_piyo 36:dca1081c19b3 175 return (sbdbt.sankaku*0.8-sbdbt.batu*0.8);
echo_piyo 31:285c9898da03 176 }
echo_piyo 31:285c9898da03 177 void sword_cal()
echo_piyo 31:285c9898da03 178 {
echo_piyo 26:3280d0300b04 179 sword.cyclic(sbdbt.maru);
echo_piyo 17:5c4718c603dc 180 }
echo_piyo 15:0fdf483769bf 181
echo_piyo 36:dca1081c19b3 182 //cylinder
echo_piyo 38:b071512af5ca 183 void cylinder_origin_first()
echo_piyo 31:285c9898da03 184 {
echo_piyo 31:285c9898da03 185 while(interrupt_cylinder_min == 1) {
echo_piyo 14:aac2f18f6779 186 led1 = 1;
echo_piyo 39:6735743ac0f1 187 rs422.put(5, -0.5, 0.0);
echo_piyo 12:1fec80ae8a2c 188 }
echo_piyo 14:aac2f18f6779 189 led1 = 0;
echo_piyo 31:285c9898da03 190 enc_cylinder.origin();
echo_piyo 0:bf96e953cdb8 191 }
echo_piyo 38:b071512af5ca 192
echo_piyo 38:b071512af5ca 193 //cylinder_origin_flagを1で動作する
echo_piyo 38:b071512af5ca 194 void cylinder_origin()
echo_piyo 38:b071512af5ca 195 {
echo_piyo 38:b071512af5ca 196 if(cylinder_origin_flag == 1){
echo_piyo 39:6735743ac0f1 197 rs422.put(5, -0.5, 0.0);
echo_piyo 38:b071512af5ca 198 }
echo_piyo 38:b071512af5ca 199 if(interrupt_cylinder_min == 0){
echo_piyo 39:6735743ac0f1 200 cylinder_origin_flag = 0;
echo_piyo 39:6735743ac0f1 201 enc_cylinder.origin();
echo_piyo 39:6735743ac0f1 202 cylinder_pos_num = 0;
echo_piyo 38:b071512af5ca 203 }
echo_piyo 38:b071512af5ca 204 }
echo_piyo 38:b071512af5ca 205
echo_piyo 28:72b9af7e1700 206 //追記(動作未確認)
echo_piyo 19:76a387e4bcf6 207 void cylinder_cal()
echo_piyo 31:285c9898da03 208 {
echo_piyo 31:285c9898da03 209 cylinder.cyclic(sbdbt.shikaku); //cylinder ON/OFF
echo_piyo 35:5e1ad00f26fb 210
echo_piyo 35:5e1ad00f26fb 211 if(riseEvent(sbdbt.right)) { //cylinder degset
echo_piyo 31:285c9898da03 212 cylinder_pos_num++;
echo_piyo 35:5e1ad00f26fb 213 if(cylinder_pos_num >= 3) {
echo_piyo 31:285c9898da03 214 cylinder_pos_num = 0;
echo_piyo 31:285c9898da03 215 }
echo_piyo 31:285c9898da03 216 }
echo_piyo 31:285c9898da03 217 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 218
echo_piyo 38:b071512af5ca 219 //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 220
echo_piyo 31:285c9898da03 221 //リロード機構完成後
echo_piyo 31:285c9898da03 222 /*
echo_piyo 31:285c9898da03 223 if(cylinder.getInState() == 1){
echo_piyo 31:285c9898da03 224 if(interrupt_cylinder_min)servo_reload = 1.0;
echo_piyo 31:285c9898da03 225 }else{
echo_piyo 31:285c9898da03 226 servo_reload = 0.0;
echo_piyo 31:285c9898da03 227 reload_magazine_flag = 1;
echo_piyo 31:285c9898da03 228 }
echo_piyo 31:285c9898da03 229
echo_piyo 31:285c9898da03 230 if(reload_magazine_flag == 1){
echo_piyo 31:285c9898da03 231 rs422.put(n6_id, 0.8, 0.0);
echo_piyo 31:285c9898da03 232 if(interrupt_reload == 1)reload_magazine_flag = 0;
echo_piyo 31:285c9898da03 233 }
echo_piyo 31:285c9898da03 234 */
echo_piyo 19:76a387e4bcf6 235 }
echo_piyo 38:b071512af5ca 236
echo_piyo 38:b071512af5ca 237 void servo_max(){
echo_piyo 38:b071512af5ca 238 servo.pulsewidth(0.0022);
echo_piyo 35:5e1ad00f26fb 239 }
echo_piyo 38:b071512af5ca 240 void servo_min()
echo_piyo 35:5e1ad00f26fb 241 {
echo_piyo 35:5e1ad00f26fb 242 servo.pulsewidth(0.0010);
echo_piyo 38:b071512af5ca 243 }
echo_piyo 38:b071512af5ca 244 void servo_out(){
echo_piyo 39:6735743ac0f1 245 cyclic_servo.cyclic(sbdbt.down); //setServoControl
echo_piyo 39:6735743ac0f1 246 if(cyclic_servo.getState()==0){
echo_piyo 39:6735743ac0f1 247 servo_min();
echo_piyo 39:6735743ac0f1 248 }else if(cyclic_servo.getState()==1){
echo_piyo 39:6735743ac0f1 249 servo_max();
echo_piyo 38:b071512af5ca 250 }
echo_piyo 35:5e1ad00f26fb 251 }
echo_piyo 35:5e1ad00f26fb 252
echo_piyo 36:dca1081c19b3 253
echo_piyo 36:dca1081c19b3 254 //boost
echo_piyo 31:285c9898da03 255 void boost()
echo_piyo 31:285c9898da03 256 {
echo_piyo 31:285c9898da03 257 if(sbdbt.r2) {
echo_piyo 10:04f2a82cfd89 258 mecanum.boost_forward();
echo_piyo 10:04f2a82cfd89 259 }
echo_piyo 31:285c9898da03 260 if(sbdbt.l2) {
echo_piyo 10:04f2a82cfd89 261 mecanum.boost_back();
echo_piyo 10:04f2a82cfd89 262 }
echo_piyo 26:3280d0300b04 263 /*
echo_piyo 10:04f2a82cfd89 264 if(sbdbt.shikaku) {
echo_piyo 10:04f2a82cfd89 265 mecanum.boost_left();
echo_piyo 10:04f2a82cfd89 266 }
echo_piyo 10:04f2a82cfd89 267 if(sbdbt.maru) {
echo_piyo 10:04f2a82cfd89 268 mecanum.boost_right();
echo_piyo 10:04f2a82cfd89 269 }
echo_piyo 26:3280d0300b04 270 */
echo_piyo 10:04f2a82cfd89 271 }
echo_piyo 10:04f2a82cfd89 272
echo_piyo 36:dca1081c19b3 273 //mecanum
echo_piyo 15:0fdf483769bf 274 void motor_cal()
echo_piyo 5:6efda58ff71b 275 {
echo_piyo 4:a6cc2f03e69b 276 yaw = bno055.getYawRad();
echo_piyo 4:a6cc2f03e69b 277 target_yaw = yaw;
echo_piyo 4:a6cc2f03e69b 278 yaw_pid.cal(target_yaw, yaw, output_period);
echo_piyo 4:a6cc2f03e69b 279 mecanum.sbdbt_cal(sbdbt.left_x, sbdbt.left_y, sbdbt.l1, sbdbt.r1, yaw_pid.duty(), bno055.getYawRad());
echo_piyo 5:6efda58ff71b 280 // 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 281 }
echo_piyo 35:5e1ad00f26fb 282 void output()
echo_piyo 35:5e1ad00f26fb 283 {
echo_piyo 35:5e1ad00f26fb 284 motor_cal();
echo_piyo 35:5e1ad00f26fb 285 cylinder_cal();
echo_piyo 35:5e1ad00f26fb 286 sword_cal();
echo_piyo 38:b071512af5ca 287 servo_out();
echo_piyo 38:b071512af5ca 288 cylinder_origin();
echo_piyo 35:5e1ad00f26fb 289 //boost();
echo_piyo 35:5e1ad00f26fb 290
echo_piyo 35:5e1ad00f26fb 291 //インタラプタが反応したとき原点を取る
echo_piyo 38:b071512af5ca 292 if(sbdbt.up) {
echo_piyo 38:b071512af5ca 293 cylinder_origin_flag = 1;
echo_piyo 35:5e1ad00f26fb 294 }
echo_piyo 35:5e1ad00f26fb 295
echo_piyo 35:5e1ad00f26fb 296 if(sbdbt.left) {
echo_piyo 35:5e1ad00f26fb 297 cylinder_origin();
echo_piyo 35:5e1ad00f26fb 298 }
echo_piyo 35:5e1ad00f26fb 299
echo_piyo 35:5e1ad00f26fb 300
echo_piyo 35:5e1ad00f26fb 301 static int counter;
echo_piyo 35:5e1ad00f26fb 302 int id[nucleo_num] = {n1_id, n2_id, n3_id, n4_id, n5_id, n6_id};
echo_piyo 35:5e1ad00f26fb 303 switch (counter) {
echo_piyo 35:5e1ad00f26fb 304 case 0:
echo_piyo 39:6735743ac0f1 305 rs422.put(id[counter], v1.duty(mecanum.v1()*mecanum_power+sbdbt.right_y), v3.duty(mecanum.v3()*mecanum_power+sbdbt.right_y));
echo_piyo 35:5e1ad00f26fb 306 counter++;
echo_piyo 35:5e1ad00f26fb 307 break;
echo_piyo 35:5e1ad00f26fb 308 case 1:
echo_piyo 39:6735743ac0f1 309 //.duty(<cal>*<powerControle>+<boost>)
echo_piyo 39:6735743ac0f1 310 rs422.put(id[counter], v2.duty(mecanum.v2()*mecanum_power-sbdbt.right_y), v4.duty(mecanum.v4()*mecanum_power-sbdbt.right_y));
echo_piyo 35:5e1ad00f26fb 311 counter ++;
echo_piyo 35:5e1ad00f26fb 312 break;
echo_piyo 35:5e1ad00f26fb 313 case 2:
echo_piyo 35:5e1ad00f26fb 314 rs422.put(id[counter], enc_cylinder.duty()*-1, 0.0);
echo_piyo 35:5e1ad00f26fb 315 counter ++;
echo_piyo 35:5e1ad00f26fb 316 break;
echo_piyo 35:5e1ad00f26fb 317 case 3:
echo_piyo 36:dca1081c19b3 318 rs422.put(id[counter], shoulder_right_cal()*sholder_power,-1*shoulder_left_cal()*sholder_power);
echo_piyo 35:5e1ad00f26fb 319 counter ++;
echo_piyo 35:5e1ad00f26fb 320 break;
echo_piyo 35:5e1ad00f26fb 321 case 4:
echo_piyo 35:5e1ad00f26fb 322 rs422.put(id[counter], ((float)sword.getState()*sword_power),0.0);
echo_piyo 35:5e1ad00f26fb 323 counter = 0;
echo_piyo 35:5e1ad00f26fb 324 break;
echo_piyo 35:5e1ad00f26fb 325 default:
echo_piyo 35:5e1ad00f26fb 326 break;
echo_piyo 35:5e1ad00f26fb 327 };
echo_piyo 14:aac2f18f6779 328 }