CatPot 2015-2016 / Mbed 2 deprecated CatPot_2v10_T_Main

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Dependencies:   mbed AQM1602 HMC6352 PID

Diff: main_processing/strategy/strategy.cpp

Revision:
26:6ca88eeaa2b4
Parent:
25:a7460e23e02e
Child:
27:825c6835e3db
--- a/main_processing/strategy/strategy.cpp	Thu Mar 17 13:00:24 2016 +0000
+++ b/main_processing/strategy/strategy.cpp	Mon Mar 21 05:49:18 2016 +0000
@@ -18,12 +18,12 @@
     ////初期値を決める等
     if(sys.KickOffFlag==1){
         ///Blindシリーズ．1を代入であらゆるセンサーなどの値を反映させないようにする．
-        sys.IrBlind=0;
+        sys.IrBlind=1;
         sys.LineBlind=0;
         sys.PingBlind=0;
         
-        sys.HomeBlind=0;
-        sys.DriBlind=0;
+        sys.HomeBlind=1;
+        sys.DriBlind=1;
         //Kick
         sys.KickStopFlag=0;
         //Ir
@@ -130,7 +130,7 @@
         ir_y_turn = -ir_y_turn;
     }
     
-    if((sys.BackHomeFlag==1)&&(sys.HomeBlind==0)||0){
+    if((sys.BackHomeFlag==1)&&(sys.HomeBlind==0)){
         ir_pow_x = ir_pow_y = 25;
         //x
         if((abs(data.ping[L_PING]-data.ping[R_PING])>20)&&(sys.HomeStayFlag[X_PING]==0)){