2015_robocon_bteam
/
2015robot_main
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Fork of
2015robot_main
by 
Naoto Deguchi
Diff: main_ps3.cpp
- Revision:
- 97:5e6f513b26f2
- Parent:
- 96:a972ba5cf2d7
- Child:
- 99:ee7f78d64c14
--- a/main_ps3.cpp Fri Oct 16 07:12:29 2015 +0000
+++ b/main_ps3.cpp Fri Oct 16 07:42:06 2015 +0000
@@ -201,7 +201,7 @@
}
/********************************Nomal Mode*********************************/
if((step==0)&&((8650.0>x)&&(x>850.0))) {
- targ_sita=-0.035;
+ targ_sita=0.0;
step=1;
}
if((step==1)&&(x>8600.0)) {
@@ -212,7 +212,7 @@
step=3;
spcount=0.0;
flagf=0;
- targ_sita=-0.045;
+ targ_sita=0.0;
}
if((step==3)&&(x<2000.0)) {
targ_sita=-PI/4;
@@ -247,7 +247,7 @@
/////////////////////////////////////////////////////////////////////////
/******************************Middle Mode******************************/
if((step==5)&&((5700.0>x)&&(x>800.0))) {
- targ_sita=-0.035;
+ targ_sita=0.0;
step=6;
}
if((step==6)&&(x>7000.0)){
@@ -257,7 +257,7 @@
if((step==7)&&((velocity<500.0)&&(velocity>-500.0))){
flagf=0;
spcount=0.0;
- targ_sita=-0.045;
+ targ_sita=0.0;
step=8;
}
if((step==8)&&(x<1900.0)) {
@@ -281,7 +281,7 @@
/////////////////////////////////////////////////////////////////////////
/*****************************Opponents Mode****************************/
if((step==15)&&((5700.0>x)&&(x>70.0))) {
- targ_sita=-0.035;
+ targ_sita=0.0;
step=16;
}
if((step==16)&&(x>2800.0)){
@@ -291,7 +291,7 @@
if((step==17)&&((velocity<500.0)&&(velocity>-500.0))){
flagf=0;
spcount=0.0;
- targ_sita=-0.045;
+ targ_sita=0.0;
step=18;
}
if((step==18)&&(x<-100.0)){
@@ -300,8 +300,12 @@
step=114;
}
- if((x>2700.0)&&(CStep==15)){
+ if((x>950.0)&&(CStep==15)){
sendData(1,4);
+ CStep=16;
+ }
+ if((x>2350.0)&&(CStep==16)){
+ sendData(1,5);
CStep=114;
}
/////////////////////////////////////////////////////////////////////////
