2015_robocon_bteam
/
2015robot_main
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Fork of
2015robot_main
by 
Naoto Deguchi
Diff: main_ps3.cpp
- Revision:
- 60:4a75f3f3a934
- Parent:
- 59:9d66edf3e734
- Child:
- 61:e018207ae860
--- a/main_ps3.cpp Thu Oct 01 09:52:36 2015 +0000
+++ b/main_ps3.cpp Fri Oct 02 07:24:52 2015 +0000
@@ -61,8 +61,9 @@
autoPS3(); /*PS3 button*/
#endif
#ifdef BLUE
- //Blue
- if((step==0)&&((8650.0>x)&&(x>1400.0))) targ_sita=0.0,step=1;
+ //Blue
+// if((step==0)&&((8650.0>x)&&(x>1400.0))) targ_sita=0.0,step=1;
+ if((step==0)&&((8650.0>x)&&(x>1400.0))) targ_sita=0.015,step=1;
if((step==1)&&(x>8650.0)) targ_velocity=-speed,step=2;
if((step==2)&&(x<2000.0)) targ_sita=PI/4,step=3;
if((step==3)&&(x<10.0)) targ_velocity=0.0,step=4;
@@ -70,9 +71,9 @@
if((x>3344.0)&&(CStep==1)) CStep=2,sendData(1,1);
if((x>6234.0)&&(CStep==2)) CStep=3,sendData(1,2);
if((x>7885.0)&&(CStep==3)) CStep=4,sendData(1,3);
-// if((x<6700.0)&&(CStep==4)) CStep=5,sendData(1,5);
- if((x<6750.0)&&(CStep==4)) CStep=5,sendData(1,5);
- if((x<6300.0)&&(CStep==5)) CStep=6,sendData(1,4);
+// if((x<6750.0)&&(CStep==4)) CStep=5,sendData(1,5);
+// if((x<6300.0)&&(CStep==5)) CStep=6,sendData(1,4);
+ if((x<6000.0)&&(CStep==4)) CStep=5,sendData(1,5);
#else
//Red
if((step==0)&&((8650.0>x)&&(x>1400.0))) targ_sita=0.0,step=1;
@@ -97,7 +98,7 @@
manualPS3(); /*PS3 button*/
#endif
//Swing
- swingFollowing();
+// swingFollowing();
/*if(square){
IndicatorAuto=0;
fclose(fp_r);
@@ -116,7 +117,5 @@
// pc.printf("sita:%f, x:%f, y:%f ,x1:%f, x2:%f ,velocity:%f\r\n",sita,x,y,x1,x2,velocity);
// pc.printf("A2 = %d, X = %d, Y = %d, B = %d, dead = %d\r\n", a2, X, Y, b, deadflag);
// pc.printf("%f %f\r\n",cont,swingRadVelocity);
- double pt=(2 * PI) / swingRadVelocity;
- pc.printf("%f\r\n",pt);
}
}
\ No newline at end of file
