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:
54:9b209c5f25bc
Parent:
50:8ea4714316ce
--- a/main_ps3.cpp	Sat Sep 26 08:43:21 2015 +0000
+++ b/main_ps3.cpp	Mon Sep 28 00:32:18 2015 +0000
@@ -24,8 +24,10 @@
     initializeSwing();
 #ifdef BLUE
     sita=PI/4.0,targ_sita=PI/4.0;
+    IndicatorBLUE = 1;
 #else
     sita=-PI/4.0,targ_sita=-PI/4.0;
+    IndicatorRED = 1;
 #endif
     Indicator4=1;
     Enable=1;
@@ -47,8 +49,9 @@
             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<6300.0)&&(CStep==4)) CStep=5,sendData(1,5);
-            if((x<5900.0)&&(CStep==5)) CStep=6,sendData(1,4);
+//            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);
 #else
             //Red
             if((step==0)&&((8650.0>x)&&(x>1400.0))) targ_sita=0.0,step=1;
@@ -59,12 +62,13 @@
             if((x>3344.0)&&(CStep==1)) CStep=2,sendData(1,1);
             if((x>6234.0)&&(CStep==2)) CStep=3,sendData(1,3);
             if((x>7885.0)&&(CStep==3)) CStep=4,sendData(1,2);
-            if((x<6074.0)&&(CStep==4)) CStep=5,sendData(1,4);
-            if((x<5574.0)&&(CStep==5)) CStep=6,sendData(1,5);
+//            if((x<6700.0)&&(CStep==4)) CStep=5,sendData(1,5);
+            if((x<6750.0)&&(CStep==4)) CStep=5,sendData(1,4);
+            if((x<6300.0)&&(CStep==5)) CStep=6,sendData(1,5);
 //            pc.printf("sita:%f, x:%f, y:%f ,x1:%f, x2:%f ,velocity:%f\r\n",sita,x,y,x1,x2,velocity);
 #endif            
             move_following();
-//            pc.printf("sita:%f, x:%f, y:%f ,x1:%f, x2:%f ,velocity:%f\r\n",sita,x,y,x1,x2,velocity);
+            pc.printf("sita:%f, x:%f, y:%f ,x1:%f, x2:%f ,velocity:%f\r\n",sita,x,y,x1,x2,velocity);
 //            pc.printf("r:%ld, l:%ld\r\n",Move_r_sense.getPulses(),Move_l_sense.getPulses());
         }
         else if(!autoflag) {
@@ -84,6 +88,6 @@
         mesureSwing();
         wait(RATE);
         
-        pc.printf("%f %f\r\n",cont,swingRadVelocity);
+//        pc.printf("%f %f\r\n",cont,swingRadVelocity);
     }
 }
\ No newline at end of file