2015_robocon_bteam
/
2015robot_main
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Fork of
2015robot_main
by 
Naoto Deguchi
Diff: main_ps3.cpp
- Revision:
- 90:9fe39ebe721f
- Parent:
- 89:048a72382b0a
- Child:
- 91:83c2e0381384
- Child:
- 92:3a12444b5192
--- a/main_ps3.cpp Wed Oct 14 11:45:02 2015 +0000
+++ b/main_ps3.cpp Thu Oct 15 09:44:09 2015 +0000
@@ -79,11 +79,11 @@
#endif
#ifdef BLUE
//Blue
- /********************************Nomal Mode*********************************/
if(spcount<speed){
spcount+=speed/100.0;
targ_velocity=spcount;
}
+ /********************************Nomal Mode*********************************/
if((step==0)&&((8650.0>x)&&(x>850.0))) {
targ_sita=0.035;
step=1;
@@ -95,10 +95,8 @@
if((step==2)&&((velocity<500.0)&&(velocity>-500.0))){
step=3;
spcount=0.0;
-// targ_velocity=speed;
flagf=0;
targ_sita=0.045;
-// targ_sita=0.065;
}
if((step==3)&&(x<2000.0)) {
targ_sita=PI/4;
@@ -110,7 +108,7 @@
step=114;
}
/***Cylinder***/
- if((x>3100.0)&&(CStep==1)) { /*nomal*/
+ if((x>3100.0)&&(CStep==1)) {
if(!skip) sendData(1,1);
CStep=2;
}
@@ -143,7 +141,6 @@
if((step==7)&&((velocity<500.0)&&(velocity>-500.0))){
flagf=0;
spcount=0.0;
-// targ_velocity=speed;
targ_sita=0.045;
step=8;
}
@@ -168,7 +165,6 @@
/////////////////////////////////////////////////////////////////////////
/*****************************Opponents Mode****************************/
if((step==15)&&((5700.0>x)&&(x>70.0))) {
-// targ_sita=0.03;
targ_sita=0.035;
step=16;
}
@@ -179,8 +175,6 @@
if((step==17)&&((velocity<500.0)&&(velocity>-500.0))){
flagf=0;
spcount=0.0;
-// targ_velocity=speed;
-// targ_sita=0.03;
targ_sita=0.045;
step=18;
}
@@ -188,7 +182,6 @@
targ_velocity=0.0;
targ_sita=PI/4.0;
step=114;
-// autoflag=0;
}
if((x>950.0)&&(CStep==15)){
