2015_robocon_bteam / Mbed 2 deprecated 2015robot_main

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Dependencies:   PID QEI mbed

Fork of 2015robot_main by Naoto Deguchi

Diff: main_ps3.cpp

Revision:
110:2ecb2f8aff81
Parent:
109:e009296125db
Child:
111:846ea36dc1dc
--- a/main_ps3.cpp	Mon Oct 19 12:15:07 2015 +0000
+++ b/main_ps3.cpp	Tue Oct 20 08:05:07 2015 +0000
@@ -14,6 +14,7 @@
 //赤チーム側を青チーム側のプログラムに合わせて実装
 //横幅調整済み
 //相手妨害モードいらない new!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
+//赤チームモード、相手チーム側の射出位置調整
 
 /***コース選択***/
 //#define BLUE
@@ -328,9 +329,7 @@
                 targ_sita=-0.025;
                 step=16;
             }
-//            if((step==16)&&(x>3200.0)){
             if((step==16)&&(x>2800.0+deff)){
-//            if((step==16)&&(x>1350.0)){
                 targ_velocity=0.0;
                 step=17;
             }
@@ -348,16 +347,13 @@
             }
             
             if((x>1450.0+deff)&&(CStep==15)){
-//            if((x>1000.0+deff)&&(CStep==15)){
                 sendData(1,4);
                 CStep=16;
             }
             if((x>2850.0+deff)&&(CStep==16)){
-//            if((x>2455.0+deff)&&(CStep==16)){
                 sendData(1,5);
                 CStep=17;
             }
-//            if((x<1400.0+deff)&&(CStep==17)){
             if((x<2400.0+deff)&&(CStep==17)){
                 sendData(7,0);
                 CStep=114;