2015_robocon_bteam / Mbed 2 deprecated 2015robot_main_zenkoku

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   PID QEI mbed

Diff: autoMode.h

Revision:
37:75fcd28f48c7
Parent:
36:b8954b13a6d5
Child:
38:f4e9893641ac
--- a/autoMode.h	Sun Nov 15 00:30:44 2015 +0000
+++ b/autoMode.h	Sun Nov 15 11:45:29 2015 +0000
@@ -49,13 +49,13 @@
             dpcount=0.0;
             direction_controller.setBias(0.0);
 #ifdef BLUE
-            sendData(5,71); //over
+            sendData(5,70); //over
 //            sendData(5,68); //over
             wait(0.05);
-            sendData(4,71); //front
+            sendData(4,70); //front
 //            sendData(4,68); //front
             wait(0.05);
-            sendData(6,12); //middle
+            sendData(6,14); //middle
 //            sendData(6,7); //middle
             stateR = 69;
             stateL = 69;
@@ -82,14 +82,13 @@
             dpcount=0.0;
             direction_controller.setBias(0.0);
 #ifdef BLUE
-//            sendData(5,65); //right
-            sendData(5,69); //right
+            sendData(5,67); 
+//            sendData(5,77); //over cylinder4
             wait(0.05);
-//            sendData(4,65); //left
-            sendData(4,69); //left
+            sendData(4,75); 
+//            sendData(4,75); //front
             wait(0.05);
-//            sendData(6,10); //middle
-            sendData(6,12); //middle
+            sendData(6,1); //middle
             stateR = 69;
             stateL = 69;
 #else       
@@ -106,7 +105,40 @@
             flaga  = 1;
         }
     }
-    else if(b==1){
+    if((b==8)&&(!flaga)){ //Middle Start
+        if(edge8){
+            edge6=0;
+            resetState(1);
+            flagf=1;
+            spcount=0.0;
+            dpcount=0.0;
+            direction_controller.setBias(0.0);
+#ifdef BLUE
+            sendData(5,69); //over
+//            sendData(5,69); //over
+            wait(0.05);
+            sendData(4,70); //front
+//            sendData(4,71); //front
+            wait(0.05);
+            sendData(6,11); //middle
+//            sendData(6,7); //middle
+            stateR = 69;
+            stateL = 69;
+#else       
+            sendData(5,69); //right
+            wait(0.05);
+            sendData(4,69); //left
+            wait(0.05);
+            sendData(6,10); //middle
+            stateR = 69;
+            stateL = 69;
+#endif
+            step   = 0;
+            CStep  = 4;
+            flaga  = 1;
+        }
+    }
+    /*else if(b==1){
         if(edge1){
             edge1=0;
             sendData(1,5);
@@ -129,7 +161,7 @@
             edge4=0;
             sendData(1,8);
         }
-    }
+    }*/
     /*if(a2){
         skip = 1;
     }