2015_robocon_bteam / Mbed 2 deprecated 2015robot_main_zenkoku

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Dependencies:   PID QEI mbed

Diff: manualMode.h

Revision:
39:5ba406327aa3
Parent:
38:f4e9893641ac
Child:
40:aed70f4dcd06
--- a/manualMode.h	Mon Nov 16 09:37:31 2015 +0000
+++ b/manualMode.h	Mon Nov 16 10:54:45 2015 +0000
@@ -99,7 +99,7 @@
 #ifdef BLUE
             swingspeed = 18.015; //入った
 #else
-            swingspeed = 17.0;
+            swingspeed = 18.015;
 #endif
         }
     }
@@ -149,20 +149,20 @@
     }
     //Move
     if(b==2){
-        flagf=1;
+        targ_velocity=speed;
 #ifdef BLUE
-        targ_velocity=speed;
+        flagf=1;
 #else
-        targ_velocity=-speed;
+        flagf=0;
 #endif
         move=1;
     }
     else if(b==3){
-        flagf=0;
+        targ_velocity=speed;
 #ifdef BLUE
-        targ_velocity=-speed;
+        flagf=0;
 #else
-        targ_velocity=speed;
+        flagf=1;
 #endif
         move=1;
     }
@@ -182,9 +182,11 @@
             }
             else{
 #ifdef BLUE
-                targ_sita-=PI/4.0;
+//                targ_sita-=PI/4.0;
+                targ_sita-=PI/16.0;
 #else 
-                targ_sita+=PI/4.0;
+//                targ_sita+=PI/4.0;
+                targ_sita+=PI/16.0;
 #endif
             }
         }
@@ -201,9 +203,11 @@
             }
             else{
 #ifdef BLUE
-                targ_sita+=PI/4.0;
+//                targ_sita+=PI/4.0;
+                targ_sita+=PI/16.0;
 #else 
-                targ_sita-=PI/4.0;
+//                targ_sita-=PI/4.0;
+                targ_sita-=PI/16.0;
 #endif
             }
         }