Diff: main_ps3.cpp

Revision:

17:726b6f53a457

Parent:

14:943e663694c3

Child:

19:ed178d04e11d

--- a/main_ps3.cpp	Tue Nov 03 04:33:08 2015 +0000
+++ b/main_ps3.cpp	Thu Nov 05 07:43:37 2015 +0000
@@ -50,12 +50,13 @@
 #ifdef BLUE
             //Blue            
             /********************************Nomal Mode*********************************/
-            if((step==0)&&((8650.0>x)&&(x>800.0))) {
-//                targ_sita=0.025;
+            if((step==0)&&((9000.0>x)&&(x>800.0))) {
+//                targ_sita=-0.01;
                 targ_sita=0.0;
                 step=1;
             }
-            if((step==1)&&(x>8600.0+deff)) {
+//            if((step==1)&&(x>8600.0+deff)) {
+            if((step==1)&&(x>9000.0)) {
                 targ_velocity=0.0;
                 direction_controller.setBias(0.0);
                 direction_controller.reset();
@@ -71,11 +72,11 @@
                 targ_sita=0.0;
             }
 //            if((step==3)&&(x<2000.0)) {
-            if((step==3)&&(x<1900.0)) {
+            if((step==3)&&(x<1400.0)) {
                 targ_sita=PI/4;
                 step=4;
             }
-            if((step==4)&&(x<100.0)) {
+            if((step==4)&&(x<600.0)) {
                 targ_velocity=0.0;
                 step=114;
             }
@@ -321,8 +322,6 @@
             if(down) fclose(fp_r);
             if(b==9) fclose(fp_r);
 #endif
-//            mesure_state();   /*位置測定*/
-//            move_following(); /*移動制御*/
         }
         else if(!autoflag) {
             flaga=0;
@@ -331,8 +330,8 @@
             manualIM920();     /*IM920 button*/
         }
         /***update state***/ 
-//        pc.printf("x:%f,y:%f\r\n",x,y);
-        pc.printf("a2:%d ,b:%d ,X:%d ,Y:%d\r\n",a2,b,X,Y);
+        pc.printf("x:%f ,y:%f ,sita:%f ,r:%f\r\n",x,y,sita,Pulses_move_r);
+//        pc.printf("a2:%d ,b:%d ,X:%d ,Y:%d\r\n",a2,b,X,Y);
 //        wait(RATE);
     }
 }
\ No newline at end of file