三浦 颯太
ttt
Dependencies: mbed TrapezoidControl QEI Pulse LM61CIZ
Revision 23:c853372cf626, committed 2019-09-18
- Comitter:
- M_souta
- Date:
- Wed Sep 18 01:58:57 2019 +0000
- Parent:
- 22:7d93f79a3686
- Child:
- 24:370616a56815
- Commit message:
- lllll
Changed in this revision
| System/Process/Process.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/System/Process/Process.cpp Tue Sep 17 04:40:17 2019 +0000
+++ b/System/Process/Process.cpp Wed Sep 18 01:58:57 2019 +0000
@@ -391,19 +391,25 @@
if(controller->Button.UP) {
motor[LIFT_LB].dir = FOR;
- motor[LIFT_LB].pwm = 180;
+ motor[LIFT_LB].pwm = 190;
motor[LIFT_RB].dir = BACK;
motor[LIFT_RB].pwm = 180;
} else if(controller->Button.DOWN) {
motor[LIFT_LB].dir = BACK;
motor[LIFT_LB].pwm = 180;
motor[LIFT_RB].dir = FOR;
+ motor[LIFT_RB].pwm = 190;
+ } else if(controller->Button.LEFT) {
+ motor[LIFT_LB].dir = FOR;
+ motor[LIFT_LB].pwm = 180;
+ } else if(controller->Button.RIGHT) {
+ motor[LIFT_RB].dir = BACK;
motor[LIFT_RB].pwm = 180;
} else {
- motor[LIFT_LB].dir = BRAKE;
- motor[LIFT_LB].pwm = 200;
- motor[LIFT_RB].dir = BRAKE;
- motor[LIFT_RB].pwm = 200;
+ motor[LIFT_LB].dir = FREE;
+ motor[LIFT_LB].pwm = 255;
+ motor[LIFT_RB].dir = BACK;
+ motor[LIFT_RB].pwm = 10;
}
@@ -499,6 +505,7 @@
static void Process3()
{
AllActuatorReset();
+ lineFase = 0;
}
#endif
@@ -514,12 +521,12 @@
linePara_L = lineCast(LineHub::GetPara(3));
linePara_R = lineCast(LineHub::GetPara(4));
- if(linePara_U == 'A' && count == 0) {
+ if(linePara_B == 'A' && count == 0) {
lineFase = 1;
}
if(lineFase == 0) {
- pw = 0.55;
+ pw = 0.5;
switch(linePara_U) {
case -2:
x = 5;
@@ -568,51 +575,10 @@
count++;
}
} else if(lineFase == 1) {
- pw = 0.4;
- switch(linePara_B) {
- case -2:
- x = 5;
- y = 3;
- break;
- case -3:
- x = 5;
- y = 3;
- break;
- case -1:
- x = 6;
- y = 3;
- break;
- case 0:
- x = 7;
- y = 3;
- break;
- case 1:
- x = 8;
- y = 3;
- break;
- case 3:
- x = 9;
- y = 3;
- break;
- case 2:
- x = 9;
- y = 3;
- break;
- case 'A':
- x = 7;
- y = 7;
- break;
- case 'N':
- x = 7;
- y = 7;
- break;
- x = 7;
- y = 7;
- default:
- x = 9;
- y = 9;
- }
- if(linePara_R == 0 && linePara_L == 0) {
+ pw = 0.3;
+ x = 7;
+ y = 9;
+ if(linePara_R == 0) {
lineFase = 2;
x = 7;
y = 7;
@@ -669,7 +635,7 @@
linePara[i] = lineCast(LineHub::GetPara(i));
}
- static int count = 0;
+ static int count = 100000;
count++;
if(count < 10000) {
@@ -691,9 +657,9 @@
break;
case -3:
motor[TIRE_FL].dir = FOR;
- motor[TIRE_BL].dir = FOR;
+ motor[TIRE_BL].dir = BACK;
motor[TIRE_BR].dir = BACK;
- motor[TIRE_FR].dir = BACK;
+ motor[TIRE_FR].dir = FOR;
motor[TIRE_FL].pwm = 30;
motor[TIRE_FR].pwm = 10;
motor[TIRE_BR].pwm = 30;
@@ -701,9 +667,9 @@
break;
case -1:
motor[TIRE_FL].dir = FOR;
- motor[TIRE_BL].dir = FOR;
+ motor[TIRE_BL].dir = BACK;
motor[TIRE_BR].dir = BACK;
- motor[TIRE_FR].dir = BACK;
+ motor[TIRE_FR].dir = FOR;
motor[TIRE_FL].pwm = 30;
motor[TIRE_FR].pwm = 20;
motor[TIRE_BR].pwm = 30;
@@ -711,9 +677,9 @@
break;
case 0:
motor[TIRE_FL].dir = FOR;
- motor[TIRE_BL].dir = FOR;
+ motor[TIRE_BL].dir = BACK;
motor[TIRE_BR].dir = BACK;
- motor[TIRE_FR].dir = BACK;
+ motor[TIRE_FR].dir = FOR;
motor[TIRE_FL].pwm = 30;
motor[TIRE_FR].pwm = 30;
motor[TIRE_BR].pwm = 30;
@@ -721,9 +687,9 @@
break;
case 1:
motor[TIRE_FL].dir = FOR;
- motor[TIRE_BL].dir = FOR;
+ motor[TIRE_BL].dir = BACK;
motor[TIRE_BR].dir = BACK;
- motor[TIRE_FR].dir = BACK;
+ motor[TIRE_FR].dir = FOR;
motor[TIRE_FL].pwm = 20;
motor[TIRE_FR].pwm = 30;
motor[TIRE_BR].pwm = 20;
@@ -751,9 +717,9 @@
break;
case 'A':
motor[TIRE_FL].dir = FOR;
- motor[TIRE_BL].dir = FOR;
+ motor[TIRE_BL].dir = BACK;
motor[TIRE_BR].dir = BACK;
- motor[TIRE_FR].dir = BACK;
+ motor[TIRE_FR].dir = FOR;
motor[TIRE_FL].pwm = 30;
motor[TIRE_FR].pwm = 30;
motor[TIRE_BR].pwm = 30;