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@54:a88208d9bc1d, 2017-09-16 (annotated)

Committer:
echo_piyo
Date:
Sat Sep 16 01:05:23 2017 +0000
Revision:
54:a88208d9bc1d
Parent:
53:701dc7886fff
Child:
55:2dd2f161ebaf
(?)9?16??????????????

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 50:e4e1f38d1bd5 16 #include "varEvent.h"
echo_piyo 0:bf96e953cdb8 17
echo_piyo 0:bf96e953cdb8 18 #define pc_baud 460800
echo_piyo 0:bf96e953cdb8 19 #define sbdbt_tx p13
echo_piyo 0:bf96e953cdb8 20 #define sbdbt_rx p14
echo_piyo 0:bf96e953cdb8 21 #define sbdbt_baud 115200
echo_piyo 0:bf96e953cdb8 22 #define rs422_tx p28
echo_piyo 0:bf96e953cdb8 23 #define rs422_rx p27
echo_piyo 0:bf96e953cdb8 24 #define rs422_baud 115200
echo_piyo 3:9ef929639c4a 25 #define output_period 0.015
echo_piyo 28:72b9af7e1700 26 #define nucleo_num 6
echo_piyo 0:bf96e953cdb8 27 #define pi 3.141592
echo_piyo 0:bf96e953cdb8 28 #define n1_id 3
echo_piyo 0:bf96e953cdb8 29 #define n2_id 4
echo_piyo 10:04f2a82cfd89 30 #define n3_id 5
echo_piyo 14:aac2f18f6779 31 #define n4_id 6
echo_piyo 14:aac2f18f6779 32 #define n5_id 7
echo_piyo 28:72b9af7e1700 33 #define n6_id 8
echo_piyo 5:6efda58ff71b 34 #define yaw_Kp 0.01
echo_piyo 5:6efda58ff71b 35 #define yaw_Ki 0.01
echo_piyo 5:6efda58ff71b 36 #define yaw_Kd 0.01
echo_piyo 54:a88208d9bc1d 37 #define acceleration 15 //25
echo_piyo 10:04f2a82cfd89 38 #define pin_cylinder_on p17
echo_piyo 10:04f2a82cfd89 39 #define pin_cylinder_off p18
echo_piyo 31:285c9898da03 40 #define pin_interrupt_cylinder_min p23
echo_piyo 12:1fec80ae8a2c 41 #define encoder_A p25
echo_piyo 12:1fec80ae8a2c 42 #define encoder_B p26
echo_piyo 40:2d6888448ab2 43 #define enc_Kp 0.0400
echo_piyo 33:64fd1bd83bac 44 #define enc_Ki 0.0001
echo_piyo 33:64fd1bd83bac 45 #define enc_Kd 0.0003
echo_piyo 34:02d605c68bf3 46 #define mecanum_power 1.0
echo_piyo 52:f5ae47e683fa 47 #define sword_power 1.0
echo_piyo 52:f5ae47e683fa 48 #define sholder_power 1.0
echo_piyo 47:6ea046767494 49 #define pin_interrupt_sholderright_max p19 //p21
echo_piyo 47:6ea046767494 50 #define pin_interrupt_sholderright_min p20 //p22
echo_piyo 33:64fd1bd83bac 51 #define pin_interrupt_sholderleft_max p7
echo_piyo 33:64fd1bd83bac 52 #define pin_interrupt_sholderleft_min p8
echo_piyo 37:fa738e34c4d3 53 #define pin_servo p21
echo_piyo 35:5e1ad00f26fb 54 #define servo_reload_time 1.0
echo_piyo 43:605e5b0b9106 55 #define pin_cylinder_reload p15
echo_piyo 45:a32e8091901b 56 #define pin_sbdbt_pairing p12
echo_piyo 45:a32e8091901b 57 #define pin_sbdbt_indicator p11
echo_piyo 0:bf96e953cdb8 58
echo_piyo 45:a32e8091901b 59 DigitalOut led1(LED1);
echo_piyo 48:96b5f5ebdfb0 60 DigitalOut led2(LED2);
echo_piyo 48:96b5f5ebdfb0 61 DigitalOut led3(LED3);
echo_piyo 48:96b5f5ebdfb0 62 DigitalOut led4(LED4);
echo_piyo 31:285c9898da03 63 DigitalIn interrupt_cylinder_min(pin_interrupt_cylinder_min);
echo_piyo 0:bf96e953cdb8 64 Serial pc(USBTX,USBRX);
echo_piyo 0:bf96e953cdb8 65 RS422 rs422(rs422_tx, rs422_rx);
echo_piyo 45:a32e8091901b 66 Sbdbt sbdbt(sbdbt_tx, sbdbt_rx, pin_sbdbt_pairing);
echo_piyo 0:bf96e953cdb8 67 Ticker output_timer;
echo_piyo 0:bf96e953cdb8 68 Mecanum mecanum;
echo_piyo 0:bf96e953cdb8 69 Bno055 bno055;
echo_piyo 2:d5b8f8e62923 70 Position_pid yaw_pid;
echo_piyo 4:a6cc2f03e69b 71 Accel v1;
echo_piyo 4:a6cc2f03e69b 72 Accel v2;
echo_piyo 4:a6cc2f03e69b 73 Accel v3;
echo_piyo 4:a6cc2f03e69b 74 Accel v4;
echo_piyo 15:0fdf483769bf 75 Cylinder cylinder(pin_cylinder_on,pin_cylinder_off);
echo_piyo 26:3280d0300b04 76 Cyclic sword;
echo_piyo 31:285c9898da03 77 Cyclic cyclic_cylinder_position;
echo_piyo 31:285c9898da03 78 DigitalIn interrupt_sholderright_min(pin_interrupt_sholderright_min);
echo_piyo 31:285c9898da03 79 DigitalIn interrupt_sholderright_max(pin_interrupt_sholderright_max);
echo_piyo 31:285c9898da03 80 DigitalIn interrupt_sholderleft_min(pin_interrupt_sholderleft_min);
echo_piyo 31:285c9898da03 81 DigitalIn interrupt_sholderleft_max(pin_interrupt_sholderleft_max);
echo_piyo 35:5e1ad00f26fb 82 Encoder enc_cylinder(encoder_A,encoder_B);
echo_piyo 38:b071512af5ca 83 Cyclic cyclic_servo;
echo_piyo 42:63aedf71f4d1 84 Cyclic_IO cylinder_reload(pin_cylinder_reload);
echo_piyo 35:5e1ad00f26fb 85 PwmOut servo(pin_servo);
echo_piyo 45:a32e8091901b 86 DigitalOut sbdbt_indigator(pin_sbdbt_indicator);
echo_piyo 50:e4e1f38d1bd5 87 varEvent event;
echo_piyo 51:70d45b959d6b 88 varEvent cylinder_event;
echo_piyo 9:6486f4b3ac50 89
echo_piyo 0:bf96e953cdb8 90 void setup();
echo_piyo 0:bf96e953cdb8 91 void output();
echo_piyo 15:0fdf483769bf 92 void motor_cal();
echo_piyo 16:e49df474e4c6 93 void cylinder_cal();
echo_piyo 10:04f2a82cfd89 94 void boost();
echo_piyo 12:1fec80ae8a2c 95 void cylinder_origin();
echo_piyo 53:701dc7886fff 96 void firstmotion();
echo_piyo 26:3280d0300b04 97 void sword_cal();
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 42:63aedf71f4d1 101
echo_piyo 39:6735743ac0f1 102 //output
echo_piyo 2:d5b8f8e62923 103 float yaw, target_yaw;
echo_piyo 39:6735743ac0f1 104 //cylinder_origin
echo_piyo 38:b071512af5ca 105 int cylinder_origin_flag = 0;
echo_piyo 39:6735743ac0f1 106 //cylinder
echo_piyo 39:6735743ac0f1 107 float cylinder_pwm;
echo_piyo 39:6735743ac0f1 108 int cylinder_pos_num = 0;
echo_piyo 42:63aedf71f4d1 109 float cylinder_pos[3] = {0.0,90.0,325.0};
echo_piyo 0:bf96e953cdb8 110
echo_piyo 0:bf96e953cdb8 111 int main()
echo_piyo 0:bf96e953cdb8 112 {
echo_piyo 0:bf96e953cdb8 113 setup();
echo_piyo 2:d5b8f8e62923 114 while(1) {
echo_piyo 48:96b5f5ebdfb0 115 led1 = interrupt_sholderleft_max;
echo_piyo 48:96b5f5ebdfb0 116 led2 = interrupt_sholderleft_min;
echo_piyo 48:96b5f5ebdfb0 117 led3 = interrupt_sholderright_max;
echo_piyo 48:96b5f5ebdfb0 118 led4 = interrupt_sholderright_min;
echo_piyo 50:e4e1f38d1bd5 119
echo_piyo 50:e4e1f38d1bd5 120 event.input(sbdbt.left);
echo_piyo 51:70d45b959d6b 121 pc.printf("riseState %d : fallState %d\r\n",event.getRise(),event.getFall());
echo_piyo 0:bf96e953cdb8 122 }
echo_piyo 0:bf96e953cdb8 123 }
echo_piyo 0:bf96e953cdb8 124
echo_piyo 0:bf96e953cdb8 125 void setup()
echo_piyo 0:bf96e953cdb8 126 {
echo_piyo 40:2d6888448ab2 127 wait(2.0);
echo_piyo 19:76a387e4bcf6 128 bno055.begin();
echo_piyo 40:2d6888448ab2 129 wait(1.0);
echo_piyo 19:76a387e4bcf6 130 bno055.firstRead();
echo_piyo 0:bf96e953cdb8 131 pc.baud(pc_baud);
echo_piyo 0:bf96e953cdb8 132 sbdbt.begin(sbdbt_baud);
echo_piyo 0:bf96e953cdb8 133 rs422.begin(rs422_baud);
echo_piyo 53:701dc7886fff 134 firstmotion();
echo_piyo 49:b041c815c063 135 cylinder_pos_num = 2; //セットアップタイムでの初期装填のため
echo_piyo 0:bf96e953cdb8 136 output_timer.attach(&output, output_period);
echo_piyo 2:d5b8f8e62923 137 yaw_pid.setup(yaw_Kp, yaw_Ki, yaw_Kd);
echo_piyo 39:6735743ac0f1 138 mecanum.setupdeg(bno055.getYawRad()); //基盤が前後逆の場合+180
echo_piyo 4:a6cc2f03e69b 139 v1.setup(acceleration,output_period);
echo_piyo 4:a6cc2f03e69b 140 v2.setup(acceleration,output_period);
echo_piyo 4:a6cc2f03e69b 141 v3.setup(acceleration,output_period);
echo_piyo 4:a6cc2f03e69b 142 v4.setup(acceleration,output_period);
echo_piyo 31:285c9898da03 143 enc_cylinder.setup(100);
echo_piyo 13:dfae731e239f 144 enc_cylinder.set_parameter(enc_Kp,enc_Ki,enc_Kd);
echo_piyo 35:5e1ad00f26fb 145 servo.period(0.020);
echo_piyo 12:1fec80ae8a2c 146 }
echo_piyo 12:1fec80ae8a2c 147
echo_piyo 36:dca1081c19b3 148 //Sword
echo_piyo 35:5e1ad00f26fb 149 float shoulder_right_cal()
echo_piyo 15:0fdf483769bf 150 {
echo_piyo 40:2d6888448ab2 151 if(interrupt_sholderright_max==0&&sbdbt.sankaku==1) {
echo_piyo 31:285c9898da03 152 return 0.0;
echo_piyo 31:285c9898da03 153 }
echo_piyo 40:2d6888448ab2 154 if(interrupt_sholderright_min==0&&sbdbt.batu==1) {
echo_piyo 33:64fd1bd83bac 155 return 0.0;
echo_piyo 31:285c9898da03 156 }
echo_piyo 31:285c9898da03 157 return (-sbdbt.sankaku*0.8+sbdbt.batu*0.8);
echo_piyo 31:285c9898da03 158 }
echo_piyo 31:285c9898da03 159
echo_piyo 35:5e1ad00f26fb 160 float shoulder_left_cal()
echo_piyo 35:5e1ad00f26fb 161 {
echo_piyo 40:2d6888448ab2 162 if(interrupt_sholderleft_max==0&&sbdbt.sankaku==1) {
echo_piyo 31:285c9898da03 163 return 0.0;
echo_piyo 31:285c9898da03 164 }
echo_piyo 40:2d6888448ab2 165 if(interrupt_sholderleft_min==0&&sbdbt.batu==1) {
echo_piyo 35:5e1ad00f26fb 166 return 0.0;
echo_piyo 31:285c9898da03 167 }
echo_piyo 40:2d6888448ab2 168 return (-sbdbt.sankaku*0.8+sbdbt.batu*0.8);
echo_piyo 31:285c9898da03 169 }
echo_piyo 31:285c9898da03 170 void sword_cal()
echo_piyo 31:285c9898da03 171 {
echo_piyo 26:3280d0300b04 172 sword.cyclic(sbdbt.maru);
echo_piyo 17:5c4718c603dc 173 }
echo_piyo 15:0fdf483769bf 174
echo_piyo 36:dca1081c19b3 175 //cylinder
echo_piyo 53:701dc7886fff 176 void firstmotion()
echo_piyo 31:285c9898da03 177 {
echo_piyo 53:701dc7886fff 178 while(interrupt_cylinder_min == 1 || interrupt_sholderleft_max == 1 || interrupt_sholderright_max == 1){
echo_piyo 53:701dc7886fff 179 float cylinder = 0.0;
echo_piyo 53:701dc7886fff 180 float sholderL = 0.0;
echo_piyo 53:701dc7886fff 181 float sholderR = 0.0;
echo_piyo 53:701dc7886fff 182 if(interrupt_cylinder_min == 1){
echo_piyo 53:701dc7886fff 183 cylinder = 2.0;
echo_piyo 53:701dc7886fff 184 }else{
echo_piyo 53:701dc7886fff 185 cylinder = 0.0;
echo_piyo 53:701dc7886fff 186 }
echo_piyo 53:701dc7886fff 187 if(interrupt_sholderright_max == 1){
echo_piyo 53:701dc7886fff 188 sholderR = -2.0;
echo_piyo 53:701dc7886fff 189 }else{
echo_piyo 53:701dc7886fff 190 sholderR = 0.0;
echo_piyo 53:701dc7886fff 191 }
echo_piyo 53:701dc7886fff 192 if(interrupt_sholderleft_max == 1){
echo_piyo 53:701dc7886fff 193 sholderL = 2.0;
echo_piyo 53:701dc7886fff 194 }else{
echo_piyo 53:701dc7886fff 195 sholderL = 0.0;
echo_piyo 53:701dc7886fff 196 }
echo_piyo 53:701dc7886fff 197 rs422.put(5, cylinder, 0.0);
echo_piyo 53:701dc7886fff 198 rs422.put(6, sholderR, sholderL);
echo_piyo 12:1fec80ae8a2c 199 }
echo_piyo 31:285c9898da03 200 enc_cylinder.origin();
echo_piyo 0:bf96e953cdb8 201 }
echo_piyo 38:b071512af5ca 202
echo_piyo 42:63aedf71f4d1 203 //cylinder_origin_flagを1にすることで動作する
echo_piyo 38:b071512af5ca 204 void cylinder_origin()
echo_piyo 38:b071512af5ca 205 {
echo_piyo 45:a32e8091901b 206 if(interrupt_cylinder_min == 0&&cylinder_origin_flag == 1) {
echo_piyo 39:6735743ac0f1 207 cylinder_origin_flag = 0;
echo_piyo 39:6735743ac0f1 208 enc_cylinder.origin();
echo_piyo 39:6735743ac0f1 209 cylinder_pos_num = 0;
echo_piyo 45:a32e8091901b 210 } else if(cylinder_origin_flag == 1) {
echo_piyo 42:63aedf71f4d1 211 rs422.put(5, -0.8, 0.0);
echo_piyo 38:b071512af5ca 212 }
echo_piyo 38:b071512af5ca 213 }
echo_piyo 38:b071512af5ca 214
echo_piyo 19:76a387e4bcf6 215 void cylinder_cal()
echo_piyo 31:285c9898da03 216 {
echo_piyo 31:285c9898da03 217 cylinder.cyclic(sbdbt.shikaku); //cylinder ON/OFF
echo_piyo 51:70d45b959d6b 218
echo_piyo 51:70d45b959d6b 219 cylinder_event.input(sbdbt.right);
echo_piyo 51:70d45b959d6b 220 if(cylinder_event.getRise()) { //cylinder degset
echo_piyo 31:285c9898da03 221 cylinder_pos_num++;
echo_piyo 35:5e1ad00f26fb 222 if(cylinder_pos_num >= 3) {
echo_piyo 42:63aedf71f4d1 223 //cylinder_pos_num = 0;
echo_piyo 42:63aedf71f4d1 224 cylinder_origin_flag=1;
echo_piyo 31:285c9898da03 225 }
echo_piyo 31:285c9898da03 226 }
echo_piyo 50:e4e1f38d1bd5 227 enc_cylinder.cal((float)cylinder_pos[cylinder_pos_num],output_period); //set cylinder_tergetPos
echo_piyo 35:5e1ad00f26fb 228
echo_piyo 38:b071512af5ca 229 //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 19:76a387e4bcf6 230 }
echo_piyo 38:b071512af5ca 231
echo_piyo 45:a32e8091901b 232 void servo_max()
echo_piyo 45:a32e8091901b 233 {
echo_piyo 45:a32e8091901b 234 servo.pulsewidth(0.0022);
echo_piyo 35:5e1ad00f26fb 235 }
echo_piyo 38:b071512af5ca 236 void servo_min()
echo_piyo 35:5e1ad00f26fb 237 {
echo_piyo 35:5e1ad00f26fb 238 servo.pulsewidth(0.0010);
echo_piyo 38:b071512af5ca 239 }
echo_piyo 45:a32e8091901b 240 void servo_out()
echo_piyo 45:a32e8091901b 241 {
echo_piyo 39:6735743ac0f1 242 cyclic_servo.cyclic(sbdbt.down); //setServoControl
echo_piyo 45:a32e8091901b 243 if(cyclic_servo.getState()==0) {
echo_piyo 39:6735743ac0f1 244 servo_min();
echo_piyo 45:a32e8091901b 245 } else if(cyclic_servo.getState()==1) {
echo_piyo 39:6735743ac0f1 246 servo_max();
echo_piyo 38:b071512af5ca 247 }
echo_piyo 35:5e1ad00f26fb 248 }
echo_piyo 35:5e1ad00f26fb 249
echo_piyo 36:dca1081c19b3 250
echo_piyo 36:dca1081c19b3 251 //boost
echo_piyo 31:285c9898da03 252 void boost()
echo_piyo 31:285c9898da03 253 {
echo_piyo 31:285c9898da03 254 if(sbdbt.r2) {
echo_piyo 10:04f2a82cfd89 255 mecanum.boost_forward();
echo_piyo 10:04f2a82cfd89 256 }
echo_piyo 31:285c9898da03 257 if(sbdbt.l2) {
echo_piyo 10:04f2a82cfd89 258 mecanum.boost_back();
echo_piyo 10:04f2a82cfd89 259 }
echo_piyo 26:3280d0300b04 260 /*
echo_piyo 10:04f2a82cfd89 261 if(sbdbt.shikaku) {
echo_piyo 10:04f2a82cfd89 262 mecanum.boost_left();
echo_piyo 10:04f2a82cfd89 263 }
echo_piyo 10:04f2a82cfd89 264 if(sbdbt.maru) {
echo_piyo 10:04f2a82cfd89 265 mecanum.boost_right();
echo_piyo 10:04f2a82cfd89 266 }
echo_piyo 26:3280d0300b04 267 */
echo_piyo 10:04f2a82cfd89 268 }
echo_piyo 10:04f2a82cfd89 269
echo_piyo 36:dca1081c19b3 270 //mecanum
echo_piyo 15:0fdf483769bf 271 void motor_cal()
echo_piyo 5:6efda58ff71b 272 {
echo_piyo 4:a6cc2f03e69b 273 yaw = bno055.getYawRad();
echo_piyo 4:a6cc2f03e69b 274 target_yaw = yaw;
echo_piyo 4:a6cc2f03e69b 275 yaw_pid.cal(target_yaw, yaw, output_period);
echo_piyo 4:a6cc2f03e69b 276 mecanum.sbdbt_cal(sbdbt.left_x, sbdbt.left_y, sbdbt.l1, sbdbt.r1, yaw_pid.duty(), bno055.getYawRad());
echo_piyo 5:6efda58ff71b 277 // 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 278 }
echo_piyo 35:5e1ad00f26fb 279 void output()
echo_piyo 35:5e1ad00f26fb 280 {
echo_piyo 35:5e1ad00f26fb 281 motor_cal();
echo_piyo 35:5e1ad00f26fb 282 cylinder_cal();
echo_piyo 35:5e1ad00f26fb 283 sword_cal();
echo_piyo 38:b071512af5ca 284 servo_out();
echo_piyo 38:b071512af5ca 285 cylinder_origin();
echo_piyo 35:5e1ad00f26fb 286 //boost();
echo_piyo 45:a32e8091901b 287
echo_piyo 48:96b5f5ebdfb0 288 //led1 = sbdbt.get_pairingState();
echo_piyo 45:a32e8091901b 289 sbdbt_indigator = sbdbt.get_pairingState();
echo_piyo 45:a32e8091901b 290
echo_piyo 49:b041c815c063 291 if(sbdbt.up)cylinder_origin_flag = 1;
echo_piyo 49:b041c815c063 292 if(sbdbt.left)bno055.yaw_origin();
echo_piyo 49:b041c815c063 293 cylinder_reload.cyclic(sbdbt.down);
echo_piyo 45:a32e8091901b 294
echo_piyo 35:5e1ad00f26fb 295 static int counter;
echo_piyo 53:701dc7886fff 296 static float mecanumV1, mecanumV2, mecanumV3, mecanumV4;
echo_piyo 35:5e1ad00f26fb 297 int id[nucleo_num] = {n1_id, n2_id, n3_id, n4_id, n5_id, n6_id};
echo_piyo 45:a32e8091901b 298
echo_piyo 45:a32e8091901b 299 //sbdbtがpairingしている場合のみ動作
echo_piyo 45:a32e8091901b 300 if(sbdbt.get_pairingState()) {
echo_piyo 45:a32e8091901b 301 switch (counter) {
echo_piyo 45:a32e8091901b 302 case 0:
echo_piyo 53:701dc7886fff 303 rs422.put(id[counter], v1.duty(limitf(((mecanum.v1()*mecanum_power)+(sbdbt.right_y*0.8)),1.0,-1.0)), v3.duty(limitf(((mecanum.v3()*mecanum_power)+(sbdbt.right_y*0.8)),1.0,-1.0)));
echo_piyo 45:a32e8091901b 304 counter++;
echo_piyo 45:a32e8091901b 305 break;
echo_piyo 45:a32e8091901b 306 case 1:
echo_piyo 45:a32e8091901b 307 //.duty(<cal>*<powerControle>+(<boost>*0.5))
echo_piyo 53:701dc7886fff 308 rs422.put(id[counter], v2.duty(limitf(((mecanum.v2()*mecanum_power)-(sbdbt.right_y*0.8)),1.0,-1.0)), v4.duty(limitf(((mecanum.v4()*mecanum_power)-(sbdbt.right_y*0.8)),1.0,-1.0)));
echo_piyo 45:a32e8091901b 309 counter ++;
echo_piyo 45:a32e8091901b 310 break;
echo_piyo 45:a32e8091901b 311 case 2:
echo_piyo 53:701dc7886fff 312 rs422.put(id[counter], limitf((-1*enc_cylinder.duty_enableWidth(-5.0,5.0)),1.0,-1.0), 0.0);
echo_piyo 45:a32e8091901b 313 counter ++;
echo_piyo 45:a32e8091901b 314 break;
echo_piyo 45:a32e8091901b 315 case 3:
echo_piyo 53:701dc7886fff 316 rs422.put(id[counter], limitf((-1*shoulder_right_cal()*sholder_power),1.0,-1.0), limitf((shoulder_left_cal()*sholder_power),1.0,-1.0));
echo_piyo 45:a32e8091901b 317 counter ++;
echo_piyo 45:a32e8091901b 318 break;
echo_piyo 45:a32e8091901b 319 case 4:
echo_piyo 53:701dc7886fff 320 rs422.put(id[counter], limitf(((float)sword.getState()*sword_power),1.0,-1.0),0.0);
echo_piyo 45:a32e8091901b 321 counter = 0;
echo_piyo 45:a32e8091901b 322 break;
echo_piyo 45:a32e8091901b 323 default:
echo_piyo 45:a32e8091901b 324 break;
echo_piyo 48:96b5f5ebdfb0 325 }
echo_piyo 45:a32e8091901b 326 }else{
echo_piyo 48:96b5f5ebdfb0 327 switch (counter) {
echo_piyo 48:96b5f5ebdfb0 328 case 0:
echo_piyo 48:96b5f5ebdfb0 329 rs422.put(id[counter],0.0,0.0);
echo_piyo 48:96b5f5ebdfb0 330 counter++;
echo_piyo 48:96b5f5ebdfb0 331 break;
echo_piyo 48:96b5f5ebdfb0 332 case 1:
echo_piyo 48:96b5f5ebdfb0 333 rs422.put(id[counter],0.0,0.0);
echo_piyo 48:96b5f5ebdfb0 334 counter ++;
echo_piyo 48:96b5f5ebdfb0 335 break;
echo_piyo 48:96b5f5ebdfb0 336 case 2:
echo_piyo 48:96b5f5ebdfb0 337 rs422.put(id[counter],0.0,0.0);
echo_piyo 48:96b5f5ebdfb0 338 counter ++;
echo_piyo 48:96b5f5ebdfb0 339 break;
echo_piyo 48:96b5f5ebdfb0 340 case 3:
echo_piyo 48:96b5f5ebdfb0 341 rs422.put(id[counter],0.0,0.0);
echo_piyo 48:96b5f5ebdfb0 342 counter ++;
echo_piyo 48:96b5f5ebdfb0 343 break;
echo_piyo 48:96b5f5ebdfb0 344 case 4:
echo_piyo 48:96b5f5ebdfb0 345 rs422.put(id[counter],0.0,0.0);
echo_piyo 48:96b5f5ebdfb0 346 counter = 0;
echo_piyo 48:96b5f5ebdfb0 347 break;
echo_piyo 48:96b5f5ebdfb0 348 default:
echo_piyo 48:96b5f5ebdfb0 349 break;
echo_piyo 45:a32e8091901b 350 }
echo_piyo 45:a32e8091901b 351 }
echo_piyo 14:aac2f18f6779 352 }