keiichi shimazu
/
NITKK2019_WinterB-Manual_madebyshimazu
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Revision 4:90b840185921, committed 2019-12-28
- Comitter:
- shimazukeiichi
- Date:
- Sat Dec 28 07:38:40 2019 +0000
- Parent:
- 3:42a8da1837f7
- Commit message:
- NITKK2019_WinterroboconB
Changed in this revision
--- a/Control.cpp Sat Dec 28 06:10:55 2019 +0000
+++ b/Control.cpp Sat Dec 28 07:38:40 2019 +0000
@@ -74,6 +74,26 @@
}else{
pwm[5] = 0.0f;
}
+ if(CheckButton(sb.PS3_SQUARE_bit(),s_time > 500)){
+ if(ls){
+ pwm[6] = 0.40f;
+ pwm[7] = 0.40f;
+ }else{
+ pwm[6] = 0.0f;
+ pwm[7] = 0.0f;
+ }
+ }else{
+ pwm[6] = 0.0f;
+ pwm[7] = 0.0f;
+ }
+ if(CheckButton(sb.PS3_R1_bit(),R1)&&CheckButton(sb.PS3_L1_bit(),L1)){
+ pwm[8] = 0.60f;
+ }else{
+ pwm[8] = 0.0f;
+ }
+
+
+
}
\ No newline at end of file
--- a/Control.h Sat Dec 28 06:10:55 2019 +0000
+++ b/Control.h Sat Dec 28 07:38:40 2019 +0000
@@ -11,7 +11,7 @@
int s_time;
int Vx,Vy,wl;
float bias[6];
- int pwm[6];
+ int pwm[9];
void OmniControl();
void ModuleControl();
--- a/pinmap.h Sat Dec 28 06:10:55 2019 +0000 +++ b/pinmap.h Sat Dec 28 07:38:40 2019 +0000 @@ -4,6 +4,7 @@ #include "SBDBT.h" #include "mdc.h" +DigitalIn ls(D5,PullUp); sbdbt sb(PA_0,PA_1,115200); Serial pc(USBTX,USBRX,115200); I2C i2c(D5,D7);