kusano kiyoshige / Mbed 2 deprecated 17robo_tokyo_kaede

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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

Files at this revision

API Documentation at this revision

Revision 76:03475cafb326, committed 2017-10-22

Comitter:
echo_piyo
Date:
Sun Oct 22 11:26:25 2017 +0000
Parent:
75:cd507886ee57
Commit message:
(??)????shoulderCalclation???controllerEvent???output?????; ????????????

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- 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();