Diff: main_processing/strategy/strategy.cpp

Revision:

28:f246a5fbf6a5

Parent:

27:825c6835e3db

Child:

29:e8bafe48aa90

--- a/main_processing/strategy/strategy.cpp	Mon Mar 21 17:05:08 2016 +0000
+++ b/main_processing/strategy/strategy.cpp	Tue Mar 22 03:58:38 2016 +0000
@@ -75,7 +75,7 @@
         sys.HomeStayFlag[Y_PING]=0;
     }
     //回り込みの値を代入
-    if(data.ping[B_PING]<=30){
+    if((data.ping[B_PING]<=30)&&0){
         sys.ir_pow_table=1;
         ir_x_dir = ir_move_val[1][data.irNotice][data.irPosition][IR_X_DIR];
         ir_y_dir = ir_move_val[1][data.irNotice][data.irPosition][IR_Y_DIR];
@@ -134,7 +134,7 @@
     //Irの細かい補正値の処理．基本的にLineの補正値を演算する処理が始まる前にIrのモーター出力値補正をすべて終わらせる．
     //if(sys.IrBlind==1) ir_pow=0;
     if(sys.IrBlind==1) ir_pow_x=ir_pow_y=0;
-    if((data.ping[R_PING]<data.ping[L_PING])&&(data.irPosition==17)){
+    if((data.ping[R_PING]<data.ping[L_PING])&&(data.irPosition==17)&&(data.irNotice==IR_CLOSER)){
         ir_x_turn = -ir_x_turn;
         ir_y_turn = -ir_y_turn;
     }
@@ -203,8 +203,13 @@
         data.FieldSpot = LINE_INSIDE;
     }
     else{
+        /*
         LineJudgeReset(ir_x, ir_y, &LineSlowPower[X_LINE], &LineSlowPower[Y_LINE]);
         LineJudgeSlow(ir_x, ir_y, &LineSlowPower[X_LINE], &LineSlowPower[Y_LINE]);
+        LineJudgeReturn(ir_x*LineSlowPower[X_LINE], ir_y*LineSlowPower[Y_LINE], &LineReturnPower[X_LINE], &LineReturnPower[Y_LINE]);
+        */
+        LineJudgeReset2(ir_x, ir_y, &LineSlowPower[X_LINE], &LineSlowPower[Y_LINE]);
+        LineJudgeSlow2(ir_x, ir_y, &LineSlowPower[X_LINE], &LineSlowPower[Y_LINE], &ir_pow_x, &ir_pow_y);
         LineJudgeReturn2(ir_x*LineSlowPower[X_LINE], ir_y*LineSlowPower[Y_LINE], &LineReturnPower[X_LINE], &LineReturnPower[Y_LINE]);
     }
     ////LEDデバッグ