Diff: main_processing/strategy/strategy.cpp

Revision:

36:50092d488f78

Parent:

35:a0421268ee95

Child:

37:ae5661306900

--- a/main_processing/strategy/strategy.cpp	Tue Feb 02 11:28:15 2016 +0000
+++ b/main_processing/strategy/strategy.cpp	Wed Feb 03 07:46:32 2016 +0000
@@ -116,11 +116,20 @@
     LineStop[Y_AXIS] = LineDir[C_SPOT]*LineDir[AB_SPOT];
     
     //Ir
+    //strict
+    /*
     IrRange[A_SPOT] = ((18<=data.irPosition)&&(data.irPosition<=19))||((8<=data.irPosition)&&(data.irPosition<=10))
                     ||((6<=data.irPosition)&&(data.irPosition<=7))||((                   1)&&(data.irPosition<=1));
     IrRange[B_SPOT] = ((12<=data.irPosition)&&(data.irPosition<=16))||((2<=data.irPosition)&&(data.irPosition<=5));
     IrRange[C_SPOT] = ((15<=data.irPosition)&&(data.irPosition<=19))||((4<=data.irPosition)&&(data.irPosition<=7));
     IrRange[AB_SPOT] = ((9<=data.irPosition)&&(data.irPosition<=13))||((                 1)&&(data.irPosition<=3));
+    */
+    //sweet
+    IrRange[A_SPOT] = ((19<=data.irPosition)&&(data.irPosition<=19))||((8<=data.irPosition)&&(data.irPosition<=9))
+                    ||((6<=data.irPosition)&&(data.irPosition<=7))||((                   1)&&(data.irPosition<=1));
+    IrRange[B_SPOT] = ((13<=data.irPosition)&&(data.irPosition<=15))||((2<=data.irPosition)&&(data.irPosition<=5));
+    IrRange[C_SPOT] = ((16<=data.irPosition)&&(data.irPosition<=18))||((4<=data.irPosition)&&(data.irPosition<=7));
+    IrRange[AB_SPOT] = ((10<=data.irPosition)&&(data.irPosition<=12))||((                 1)&&(data.irPosition<=3));
     
     
     LinePulse[A_SPOT] = ((IrRange[A_SPOT]==1)&&(LineDir[A_SPOT]==0));
@@ -159,6 +168,12 @@
         vy*LineStop[Y_AXIS] + (LINE_RF)*(vx!=0)*((LineDir[C_SPOT]==0) + (-1)*(LineDir[AB_SPOT]==0)),
         vs
     );
+    /*
+    move(
+        vx*LineStop[X_AXIS] + (LINE_RF)*(vy!=0)*((-1)*(LineDir[A_SPOT]==0) + (LineDir[B_SPOT]==0)),
+        vy*LineStop[Y_AXIS] + (LINE_RF)*(vx!=0)*((LineDir[C_SPOT]==0) + (-1)*(LineDir[AB_SPOT]==0)),
+        vs
+    );*/
     if(data.MotorFlag==1){
         tx_motor();
         data.MotorFlag=0;