2015_robocon_bteam
/
2015robot_main
Important changes to repositories hosted on mbed.com
Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.
To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.
It is also possible to export all your personal repositories from the account settings page.
Fork of
2015robot_main
by 
Naoto Deguchi
Diff: main_ps3.cpp
- Revision:
- 102:e483c7453f52
- Parent:
- 101:b67d33e56b66
--- a/main_ps3.cpp Sat Oct 17 06:04:49 2015 +0000
+++ b/main_ps3.cpp Sat Oct 17 09:53:52 2015 +0000
@@ -160,7 +160,7 @@
sendData(1,5);
CStep=8;
}
- if((x>5720.0)&&(CStep==8)){
+ if((x>5820.0)&&(CStep==8)){
sendData(1,4);
CStep=9;
}
@@ -170,22 +170,28 @@
}
/////////////////////////////////////////////////////////////////////////
/*****************************Opponents Mode****************************/
- if((step==15)&&((5700.0>x)&&(x>50.0))) {
+ if(dspeed>0.0){
+ dspeed-=speed/50.0;
+ targ_velocity=dspeed;
+ }
+ if((step==15)&&((5700.0>x)&&(x>60.0))) {
targ_sita=0.025;
step=16;
}
// if((step==16)&&(x>3200.0)){
- if((step==16)&&(x>2850.0)){
-// if((step==16)&&(x>1350.0)){
+// if((step==16)&&(x>2850.0)){
+ if((step==16)&&(x>1520.0)){
targ_velocity=0.0;
+// dspeed=speed;
step=17;
}
- if((step==17)&&((velocity<5000.0)&&(velocity>-5000.0))){
-// if((step==17)&&((velocity<10.0)&&(velocity>-10.0))){
+// if((step==17)&&((velocity<5000.0)&&(velocity>-5000.0))){
+ if((step==17)&&((velocity<1000.0)&&(velocity>-1000.0))){
flagf=0;
spcount=0.0;
targ_sita=0.035;
step=18;
+ dspeed=0.0;
}
if((step==18)&&(x<-100.0)){
targ_velocity=0.0;
@@ -193,15 +199,19 @@
step=114;
}
- if((x>1350.0)&&(CStep==15)){
+ if((x>1570.0)&&(CStep==15)){
sendData(1,5);
CStep=16;
}
- if((x>2550.0)&&(CStep==16)){
+ if((x<1300.0)&&(CStep==16)){
+ sendData(7,255);
+ CStep=114;
+ }
+ /*if((x>3000.0)&&(CStep==16)){
sendData(1,4);
CStep=17;
}
- /*if((x<1000.0)&&(CStep==17)){
+ if((x<1300.0)&&(CStep==17)){
sendData(7,255);
CStep=114;
}*/
