Diff: autoMode.h

Revision:

31:74e77ef0831c

Parent:

30:2923c6879e5f

Child:

32:eb7c263cb5cf

Child:

34:f9ef622f4376

--- a/autoMode.h	Sat Sep 19 02:49:00 2015 +0000
+++ b/autoMode.h	Sat Sep 19 10:57:41 2015 +0000
@@ -2,30 +2,29 @@
 #define AUTOMODE_H
 
 /***PID Controller***/
-PID velocity_controller(18.0,5274.0 ,0.0,RATE);
-PID direction_controller(18.0,5274.0,0.0,RATE);
+PID velocity_controller(36.0,5274.0 ,0.0,RATE);
+PID direction_controller(36.0,5.0,0.0,RATE);
 
 /***Ps3 correspondence***/
-void autoPs3(){
+void autoPs3()
+{
     if(up) targ_velocity=speed;
     else if(down) targ_velocity=-speed;
     else if(right) targ_velocity=0.0,targ_sita=0.0;
     else if(left) targ_velocity=0.0,targ_sita=PI/2.0;
     else if(r1) targ_sita=0.0;
     else if(l1) targ_sita=PI/2.0;
-    else if(circle){
+    else if(circle) {
         if(edge_circle) edge_circle=0,autoflag=0,Indicator4=0;
-    }
-    else if(cross){
+    } else if(cross) {
         Motor_swing=0;
         sita=PI/4.0,x=0.0,y=0.0;
         targ_velocity=0.0;
         targ_sita=PI/4.0;
         velocity_controller.reset();
         direction_controller.reset();
-    }
-    else if(triangle){
-        if(edge_triangle){
+    } else if(triangle) {
+        if(edge_triangle) {
             edge_triangle=0;
             if(cylinderStep==3) cylinderStep=0;
             cylinderStep++;
@@ -46,7 +45,7 @@
     //Pwm output from MOVE_OUTPUT_LIMIT_BOTTOM to MOVE_OUTPUT_LIMIT_TOP
     velocity_controller.setOutputLimits(-1.0, 1.0);
     direction_controller.setOutputLimits(-1.0, 1.0);
-    
+
     //set bias. 初期値
     velocity_controller.setBias(0.0);
     direction_controller.setBias(0.0);