前のやつです。
Dependencies: FEP OmniPosition PID QEI R1307 TFmini ikarashiMDC linesSnsor omni_wheel
Revision 5:c7643ae5835f, committed 2018-09-11
- Comitter:
- tanabe2000
- Date:
- Tue Sep 11 15:35:59 2018 +0000
- Parent:
- 4:7cdaa4b12eca
- Commit message:
- changing coments
Changed in this revision
gakuBot/gakubot.cpp | Show annotated file Show diff for this revision Revisions of this file |
diff -r 7cdaa4b12eca -r c7643ae5835f gakuBot/gakubot.cpp --- a/gakuBot/gakubot.cpp Tue Sep 11 15:13:36 2018 +0000 +++ b/gakuBot/gakubot.cpp Tue Sep 11 15:35:59 2018 +0000 @@ -67,8 +67,8 @@ pid.setMode(AUTO_MODE); pid.setInputLimits(-100, 2300); pid.setOutputLimits(-1.0, 1.0); - pid.setSetPoint(distance);// 目標値 - pid.setBias(0.0); // outputの変わり目 + pid.setSetPoint(distance); + pid.setBias(0.0); anglePID.setMode(AUTO_MODE); anglePID.setInputLimits(-360, 360); @@ -86,7 +86,7 @@ if(con.getButton2(3)==0) distance -= 10; receiveSuccessed = con.receiveState(); nowPals = wheel1.getPulses(); - pid.setSetPoint(distance);// 目標値 + pid.setSetPoint(distance); pid.setProcessValue(nowPals - distanceOfset); Output_PID = -1*pid.compute(); // @@ -201,7 +201,7 @@ // if(con.getButton1(0) && con.getButton1(1)) loadingPwm[0] = 0.0, loadingPwm[1] = 0.0; // for(int i = 0; i < 5; i++) Loading[i]->setSpeed(loadingPwm[i]); - for(int i = 0; i < 2; i++) fire[i]->setSpeed(firePwm[i]);/*変数を作って変更する */ + for(int i = 0; i < 2; i++) fire[i]->setSpeed(firePwm[i]); } debugpc.printf("pid: %f\r\n", Output_PID); } else { @@ -215,7 +215,7 @@ // // for(int i = 0; i < 3; i++) fire[i]->setSpeed(0); // -// switch(mode) {/*modeをテーブルごとに分ける。example > modeT1, modeT2, modeT3, modeT4*/ +// switch(mode) { // case 0: // demoX = 0.0; // demoY = 0.0; @@ -225,7 +225,7 @@ // demoY = 0.0; // break; // case 2: -// /*line収束処理*/ +// // demoX = 0.0; // demoY = 0.0; // @@ -273,7 +273,7 @@ // demoY = 0.0; // break; // case 11: -// /*line収束処理*/ +// // demoX = 0.0; // demoY = 0.0; // @@ -321,7 +321,7 @@ // demoY = 0.0; // break; // case 20: -// /*line収束処理*/ +// // demoX = 0.0; // demoY = 0.0; // @@ -369,7 +369,7 @@ // demoY = 0.0; // break; // case 29: -// /*line収束処理*/ +// // demoX = 0.0; // demoY = 0.0; //