2015 robotic contest arakawa A
/
Nucleo_PS3_Jikken_PS3
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Dependencies: mbed
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Nucleo_PS3_Jikken3
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2015 robotic contest arakawa A
Revision 9:489a085d1703, committed 2015-09-17
- Comitter:
- nodoame
- Date:
- Thu Sep 17 04:58:57 2015 +0000
- Parent:
- 8:b2ead9ecd6cd
- Child:
- 10:ab1339498e09
- Child:
- 11:1ca2498815c9
- Commit message:
- ??????????; 20150917
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/main.cpp Thu Sep 17 04:08:04 2015 +0000
+++ b/main.cpp Thu Sep 17 04:58:57 2015 +0000
@@ -133,10 +133,10 @@
void detectPole()
{
- bool btFlag=false;
+ bool btFlag=false,scFlag=false;
int vector=TD;
Blue=0.0f;Green=0.0f,Red=0.8f;
- double deg;
+ double deg=32;
while(true)
{
//スイッチが押された時
@@ -145,21 +145,20 @@
Mechanum.putc(64);
btFlag=true;
Blue=0.0f;Green=0.8f;Red=0;
- vector=TNL;
-
- /*//左右どっちかが選択されるまで停止
- do{
- //deg更新
- deg=devidePoint((double)DATA[3],(double)DATA[2],15,360/devideNum);
- //ニュートラル以外なら
- if(deg!=64)
- vector=(deg<17)?(TNR):(TNL);//左右選択
- }while(deg==64);*/
+ vector=64;
}
-
+ else if((int)deg==devideNum)
+ {
+ deg=devidePoint((double)DATA[3],(double)DATA[2],15,360/devideNum);
+ pc.printf("deg%lf\r\n",deg);
+ if((int)deg!=devideNum){
+ vector=(deg<17)?(TNL):(TNR);
+ pc.printf("vector%d\r\n",vector);
+ scFlag=true;
+ }
+ }
//レーザーが反応した時
- else if(!(int)(DATA[1]&0x02)&&btFlag/*!((int)DATA[1]&2==2)&&btFlag*/){
- pc.printf("raser%d\r\n",(int)DATA[1]);
+ else if(!(int)(DATA[1]&0x02)&&btFlag&&scFlag/*!((int)DATA[1]&2==2)&&btFlag*/){
vector=64;
break;
}