2015_robocon_bteam / Mbed 2 deprecated 2015robot_main_zenkoku

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Dependencies:   PID QEI mbed

Diff: main_ps3.cpp

Revision:
39:5ba406327aa3
Parent:
38:f4e9893641ac
Child:
40:aed70f4dcd06
--- a/main_ps3.cpp	Mon Nov 16 09:37:31 2015 +0000
+++ b/main_ps3.cpp	Mon Nov 16 10:54:45 2015 +0000
@@ -3,8 +3,8 @@
  */
 
 /***コース選択***/
-//#define BLUE
-#define RED
+#define BLUE
+//#define RED
 
 /***マシン状態計測***/
 //#define MESURE
@@ -64,7 +64,7 @@
 //                targ_sita=0.0;
                 targ_sita=-0.03;
             }
-            if((step==3)&&(x<1800.0)) {
+            if((step==3)&&(x<1700.0)) {
                 targ_sita=PI/4;
                 step=4;
             }
@@ -105,15 +105,15 @@
                 CStep=7;
             }*/
             /////////////////////////////////////////
-            if((x<7870.0)&&(CStep==5)) {
+            if((x<7800.0)&&(CStep==5)) {
                 if(!skip) sendData(1,6); //front
                 CStep=6;
             }
-            if((x<6800.0)&&(CStep==6)) {
+            if((x<6700.0)&&(CStep==6)) {
                 if(!skip) sendData(1,5); //middle
                 CStep=7;
             }
-            if((x<5550.0)&&(CStep==7)) {
+            if((x<5500.0)&&(CStep==7)) {
                 if(!skip) sendData(1,4); //over
                 CStep=8;
             }
@@ -147,7 +147,7 @@
                 targ_sita=PI/4;
                 step=14;
             }
-            if((step==14)&&(x<600.0)) {
+            if((step==14)&&(x<700.0)) {
                 dpcount=speed;
                 step=114;
             }
@@ -170,16 +170,16 @@
                 CStep=14;
             }
             if((x>9900.0)&&(CStep==14)) CStep=15;
-            if((x<9680.0)&&(CStep==15)) { //7.8
+            if((x<9500.0)&&(CStep==15)) { //7.8
                 if(!skip) sendData(1,4);
                 CStep=16;
             }
-            if((x<7900.0)&&(CStep==16)) { //7.8
+            if((x<7800.0)&&(CStep==16)) { //7.8
 //            if((x<7950.0)&&(CStep==16)) { //7.8
                 if(!skip) sendData(1,5);
                 CStep=17;
             }
-            if((x<5600.0)&&(CStep==17)) { //7.8
+            if((x<5400.0)&&(CStep==17)) { //7.8
 //            if((x<5750.0)&&(CStep==17)) { //7.8
                 if(!skip) sendData(1,6);
                 CStep=18;
@@ -488,8 +488,7 @@
                 mstep=11;
             }
             if((mstep==11)&&((velocity<5.0)&&(velocity>-5.0))){
-                targ_sita=-PI/3.0;
-                targ_sita=-PI/4.0+PI/8.0;
+                targ_sita=-PI/3.0-PI/10.0+PI/4.0;
                 swingmoved=2;
                 mstep=252;
             }