2015_robocon_bteam / Mbed 2 deprecated 2015robot_main

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Dependencies:   PID QEI mbed

Fork of 2015robot_main by Naoto Deguchi

Diff: autoMode.h

Revision:
89:048a72382b0a
Parent:
88:cbed08732872
Child:
90:9fe39ebe721f
--- a/autoMode.h	Wed Oct 14 10:05:55 2015 +0000
+++ b/autoMode.h	Wed Oct 14 11:45:02 2015 +0000
@@ -19,16 +19,18 @@
             flaga=0;
         }
     }
-    else if(b==6){ /*start*/
+    else if((b==6)&&(!flaga)){ /*start*/
         if(edge6){
             edge6=0;
             resetState();
             flagf=1;
-            targ_velocity=speed;
+            spcount=0.0;
+//            targ_velocity=speed;
 //            sendData(7,70);
-            sendData(5,69);
-            wait(0.1);
-            sendData(4,70);
+            sendData(5,69); //right
+            wait(0.05);
+            sendData(4,70); //left
+            wait(0.05);
             stateR = 69;
             stateL = 69;
             step   = 0;
@@ -36,16 +38,18 @@
             flaga  = 1;
         }
     }
-    else if(b==5){ /*middle start*/
+    else if((b==5)&&(!flaga)){ /*middle start*/
         if(edge5){
             edge5=0;
             resetState();
             flagf = 1;
-            targ_velocity=speed;
-            sendData(7,59);
-            /*sendData(4,61);
-            wait(0.1);
-            sendData(5,58);*/
+            spcount=0.0;
+//            targ_velocity=speed;
+//            sendData(7,59);
+            sendData(5,58); //right
+            wait(0.05);
+            sendData(4,61); //left
+            wait(0.05);
             stateR = 59;
             stateL = 59;
             step   = 5;
@@ -53,16 +57,18 @@
             flaga  = 1;
         }
     }   
-    else if(b==8){  /*opponents start*/
+    else if((b==8)&&(!flaga)){  /*opponents start*/
         if(edge8){
             edge8=0;
             resetState();
             flagf = 1;
-            targ_velocity = speed;
+            spcount=0.0;
+//            targ_velocity = speed;
 //            sendData(7,70);
-            sendData(5,70);
-            wait(0.1);
-            sendData(4,70);
+            sendData(5,69); //right
+            wait(0.05);
+            sendData(4,60); //left
+            wait(0.05);
             stateR = 70;
             stateL = 70;
             step   = 15;