2015_robocon_bteam / Mbed 2 deprecated 2015robot_main

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Dependencies:   PID QEI mbed

Fork of 2015robot_main by Naoto Deguchi

Diff: autoMode.h

Revision:
32:eb7c263cb5cf
Parent:
31:74e77ef0831c
Child:
33:9f14e89f74eb
--- a/autoMode.h	Sat Sep 19 10:57:41 2015 +0000
+++ b/autoMode.h	Sun Sep 20 04:31:34 2015 +0000
@@ -15,7 +15,7 @@
     else if(r1) targ_sita=0.0;
     else if(l1) targ_sita=PI/2.0;
     else if(circle) {
-        if(edge_circle) edge_circle=0,autoflag=0,Indicator4=0;
+        if(edge_circle) edge_circle=0,autoflag=0,Indicator4=0,IndicatorMode=1;
     } else if(cross) {
         Motor_swing=0;
         sita=PI/4.0,x=0.0,y=0.0;
@@ -76,8 +76,10 @@
 {
     velocity_following();
     sita_following();
-    Vr                  = ( x1 + x2 ) / 2.0;
-    Vl                  = ( x1 - x2 ) / 2.0;
+//    Vr                  = ( x1 + x2 ) / 2.0;
+//    Vl                  = ( x1 - x2 ) / 2.0;
+    Vr                  = x1 + x2;
+    Vl                  = x1 - x2;
     if( abs(Vr) < 0.05 ) Vr = 0.0;
     if( abs(Vl) < 0.05 ) Vl = 0.0;
     Move_r( ( float ) Vr );