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Nebel 2012-08-30 09:14:41 +09:00
parent 7c24307b16
commit c37c972d1e
1 changed files with 3 additions and 5 deletions
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8
arduino/catchrobo2012/catchrobo2012.ino
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@ -16,16 +16,12 @@
#define PIN_PWR A3 #define PIN_PWR A3
#define PIN_GND A2 #define PIN_GND A2
int loop_cnt = 0;
Servo base; Servo base;
Servo catcher; Servo catcher;
WiiNun wiiNun; WiiNun wiiNun;
Motor horMotor; Motor horMotor;
Motor verMotor; Motor verMotor;
byte baseDeg = 90;
byte catcherDeg = 90;
void setup(){ void setup(){
pinMode(PIN_PWR, OUTPUT); pinMode(PIN_PWR, OUTPUT);
pinMode(PIN_GND, OUTPUT); pinMode(PIN_GND, OUTPUT);
@ -64,12 +60,14 @@ void loop(){
// char ax = (char)(accx-0x7F); // char ax = (char)(accx-0x7F);
char ay = (char)(accy-0x7F); // 水平状態を0にする char ay = (char)(accy-0x7F); // 水平状態を0にする
byte baseDeg = 90;
byte catcherDeg = 90;
if(zbut){ // zボタン押しながら if(zbut){ // zボタン押しながら
digitalWrite(PIN_LED, HIGH); digitalWrite(PIN_LED, HIGH);
if(y>0x1F) baseDeg = 180 - atan2(y, x)*180/PI; // 台座をスティックの角度にする if(y>0x1F) baseDeg = 180 - atan2(y, x)*180/PI; // 台座をスティックの角度にする
if(baseDeg < 10) baseDeg = 10; if(baseDeg < 10) baseDeg = 10;
else if(baseDeg > 170) baseDeg = 170; else if(baseDeg > 170) baseDeg = 170;
}else{ // zボタン離すと }else{ // zボタン離しながら
digitalWrite(PIN_LED, LOW); digitalWrite(PIN_LED, LOW);
horMotor.speed(y); horMotor.speed(y);
baseDeg += x/32; // 台座をxに応じて相対移動 baseDeg += x/32; // 台座をxに応じて相対移動