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:
29:e8bafe48aa90
Parent:
28:f246a5fbf6a5
Child:
30:5998ba42237e
--- a/main_processing/strategy/strategy.cpp	Tue Mar 22 03:58:38 2016 +0000
+++ b/main_processing/strategy/strategy.cpp	Tue Mar 22 07:01:10 2016 +0000
@@ -83,11 +83,29 @@
         ir_y_turn = ir_move_val[1][data.irNotice][data.irPosition][IR_Y_TURN];
     }
     else{
-        sys.ir_pow_table=0;
-        ir_x_dir = ir_move_val[0][data.irNotice][data.irPosition][IR_X_DIR];
-        ir_y_dir = ir_move_val[0][data.irNotice][data.irPosition][IR_Y_DIR];
-        ir_x_turn = ir_move_val[0][data.irNotice][data.irPosition][IR_X_TURN];
-        ir_y_turn = ir_move_val[0][data.irNotice][data.irPosition][IR_Y_TURN];
+        if(data.irValPhase[IR_SHORT]>=DIS_4){
+            sys.ir_pow_table=2;
+            ir_x_dir = ir_move_val[2][data.irNotice][data.irPosition][IR_X_DIR];
+            ir_y_dir = ir_move_val[2][data.irNotice][data.irPosition][IR_Y_DIR];
+            ir_x_turn = ir_move_val[2][data.irNotice][data.irPosition][IR_X_TURN];
+            ir_y_turn = ir_move_val[2][data.irNotice][data.irPosition][IR_Y_TURN];
+        }
+        else{
+            if(data.irValPhase[IR_SHORT]<=DIS_1){
+                sys.ir_pow_table=0;
+                ir_x_dir = ir_move_val[0][data.irNotice][data.irPosition][IR_X_DIR];
+                ir_y_dir = ir_move_val[0][data.irNotice][data.irPosition][IR_Y_DIR];
+                ir_x_turn = ir_move_val[0][data.irNotice][data.irPosition][IR_X_TURN];
+                ir_y_turn = ir_move_val[0][data.irNotice][data.irPosition][IR_Y_TURN];
+            }
+            else{
+                sys.ir_pow_table=0;
+                ir_x_dir = ir_move_val[0][data.irNotice][data.irPosition][IR_X_DIR];
+                ir_y_dir = ir_move_val[0][data.irNotice][data.irPosition][IR_Y_DIR];
+                ir_x_turn = ir_move_val[0][data.irNotice][data.irPosition][IR_X_TURN];
+                ir_y_turn = ir_move_val[0][data.irNotice][data.irPosition][IR_Y_TURN];
+            }
+        }
     }
     //Irの検出値によって出力を調整
     if(data.irNotice==IR_CLOSER){