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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:
- 76:03475cafb326
- Parent:
- 75:cd507886ee57
diff -r cd507886ee57 -r 03475cafb326 main.cpp --- a/main.cpp Sun Oct 22 11:18:08 2017 +0000 +++ b/main.cpp Sun Oct 22 11:26:25 2017 +0000 @@ -33,6 +33,8 @@ #define GROUND_ENCORDER_X_B p11 #define GROUND_ENCORDER_Y_A p12 #define GROUND_ENCORDER_Y_B p13 +#define GUN_ENCORDER_A p14 +#define GUN_ENCORDER_B p15 #define GUN_ENCORDER_A p7 #define GUN_ENCORDER_B p8 @@ -75,6 +77,8 @@ void setup(); void output(); void motorCalculation(); +void shoulderCalcration(); +void controllerEvent(); //index_setupPin DigitalOut led1(LED1); @@ -111,7 +115,7 @@ } } -void shoulder(){ +void shoulderCalclation(){ shoulderLeft.cyclic(eventShikaku.getRise()); shoulderRight.cyclic(eventSankaku.getRise()); } @@ -159,6 +163,10 @@ //index_output void output() { + //全国大会用追記 + shoulderCalclation(); + controllerEvent(); + motorCalculation(); controlIndigator = sbdbt.get_pairingState(); //led1 = sbdbt.get_pairingState();