2015_robocon_bteam
/
2015robot_main
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Fork of
2015robot_main
by 
Naoto Deguchi
Diff: autoMode.h
- Revision:
- 101:b67d33e56b66
- Parent:
- 97:5e6f513b26f2
- Child:
- 102:e483c7453f52
- Child:
- 103:ffd3ca4a7a71
diff -r 5769dc0e7478 -r b67d33e56b66 autoMode.h
--- a/autoMode.h Fri Oct 16 10:58:18 2015 +0000
+++ b/autoMode.h Sat Oct 17 06:04:49 2015 +0000
@@ -10,10 +10,11 @@
Timeout OpStart;
void OpponentsStart(){
- spcount=0.0;
- step = 15;
- CStep = 15;
- flaga = 1;
+ spcount = 0.0;
+ step = 15;
+ CStep = 15;
+ flaga = 1;
+ flagf = 1;
}
#ifdef IM920
@@ -26,6 +27,8 @@
Indicator4=0;
IndicatorAuto=1;
flaga=0;
+ Move_l(0.0);
+ Move_r(0.0);
}
}
else if((b==6)&&(!flaga)){ /*start*/
@@ -36,9 +39,9 @@
spcount=0.0;
// targ_velocity=speed;
// sendData(7,70);
- sendData(5,69); //right
+ sendData(5,68); //right
wait(0.05);
- sendData(4,70); //left
+ sendData(4,68); //left
wait(0.05);
stateR = 69;
stateL = 69;
@@ -62,7 +65,7 @@
stateR = 59;
stateL = 59;
step = 5;
- CStep = 6;
+ CStep = 7;
flaga = 1;
}
}
@@ -72,19 +75,23 @@
resetState();
// targ_velocity = speed;
// sendData(7,70);
- sendData(5,69); //right
+ sendData(5,72); //right
wait(0.05);
- sendData(4,60); //left
+ sendData(4,72); //left
+ /*sendData(5,75); //right
+ wait(0.05);
+ sendData(4,75); //left*/
wait(0.05);
stateR = 70;
stateL = 70;
step=114;
CStep=114;
- OpStart.attach(&OpponentsStart,5.0);
+ OpStart.attach(&OpponentsStart,3.0);
// spcount=0.0;
// step = 15;
// CStep = 15;
// flaga = 1;
+// flagf = 1;
}
}
else if(b==9){ /******/
@@ -150,9 +157,9 @@
flagf=1;
targ_velocity=speed;
// sendData(7,70);
- sendData(5,69);
+ sendData(5,68);
wait(0.1);
- sendData(4,69);
+ sendData(4,68);
stateR = 69;
stateL = 69;
step = 0;
