広田 勇斗 / Mbed 2 deprecated 2017_Bteam_alpha_master_ashi

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   Alpha_Movements BoolProcess DataCaller MD_PID mbed angle

Fork of 2017_Bteam_alpha_master by taiyou komazawa

Diff: main.cpp

Revision:
10:94527f9ac652
Parent:
8:701a9c23b517
--- a/main.cpp	Thu Sep 21 05:21:14 2017 +0000
+++ b/main.cpp	Wed Sep 27 06:50:34 2017 +0000
@@ -6,28 +6,36 @@
 
 #include "ArrowShooter.h"
 
+#include "ShooterAngle.h"
+
 #include "2017_4.h"
 
 #define SDA PB_7
 #define SCL PB_6
 
+
 I2C *master;
 DataPool *alpha;
 
 Mecanamu_4 Mecanamu(PA_8, PB_0, PA_12, PA_7, PA_11, PB_1, PA_6, PA_5, PB_5, PF_0, PA_4, PA_3, PB_4, PF_1, PA_1, PA_0, 1);
+
 Serial pc(USBTX, USBRX);
 
 double fire_work_time;
 int fire_work_allow = 0;
 
+const int angle_max = 57;
+const int angle_min = 22;
+
 int main()
 {
     master = new I2C(SDA, SCL);
     alpha = new AlphaTransporter(master);
     ArrowShooter shooter(master);
+    ShooterAngle angle(master, angle_max, angle_min);
     
-    Mecanamu.Drive(0, 0, 0);
-    float x, y, t;
+    Mecanamu.Drive(0, 0, 0, 0);
+    float a, x, y, t;
     while(1)
     {
         alpha->set();
@@ -44,12 +52,15 @@
         if(fire_work_time >= 3.7)
             fire_work_allow = 0;
         
+        a = alpha->read(3);
         x = alpha->read(0) / 128.00;
         y = alpha->read(1) / 128.00;
         t = alpha->read(2) / 128.00;
-        Mecanamu.Drive(x, y, t);
+        
+        Mecanamu.Drive(1, x, y, t);
+        
         wait(0.01);
-        
+        angle.setAngle(alpha->read(17));
         //printf("%lf, %lf, %lf\r\n", x, y, t);
     }
 }