2015_robocon_bteam / Mbed 2 deprecated 2015robot_main_zenkoku

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Dependencies:   PID QEI mbed

Diff: manualMode.h

Revision:
37:75fcd28f48c7
Parent:
36:b8954b13a6d5
Child:
38:f4e9893641ac
--- a/manualMode.h	Sun Nov 15 00:30:44 2015 +0000
+++ b/manualMode.h	Sun Nov 15 11:45:29 2015 +0000
@@ -69,7 +69,7 @@
             mstep   = 0;
             mCStep  = 114;
             flaga  = 1;
-            swingspeed = 18.0;
+            swingspeed = 17.0;
         }
     }
     else if((b==8)&&(!flaga)){ //Swing Start(over)
@@ -90,11 +90,9 @@
             mstep   = 10;
             mCStep  = 114;
             flaga  = 1;
-            swingspeed = 19.5;  //入った
-//            swingspeed = 19.3;
+            swingspeed = 18.015; //入った
         }
     }
-    
     else if((b==7)&&(swingmoved!=0)){
         if(edge7){
             edge7=0;
@@ -130,21 +128,39 @@
     if(b==1){
         if(edge1){
             edge1=0;
+            if(swingmoved!=0){
 #ifdef BLUE
-            targ_sita+=PI/4.0;
+                targ_sita-=PI/60.0;
 #else 
-            targ_sita-=PI/4.0;
+                targ_sita+=PI/60.0;
+#endif                
+            }
+            else{
+#ifdef BLUE
+                targ_sita-=PI/4.0;
+#else 
+                targ_sita+=PI/4.0;
 #endif
+            }
         }
     }
     else if(b==4){
         if(edge4){
             edge4=0;
+            if(swingmoved!=0){
 #ifdef BLUE
-            targ_sita-=PI/4.0;
-#else
-            targ_sita+=PI/4.0;
+                targ_sita+=PI/60.0;
+#else 
+                targ_sita-=PI/60.0;
+#endif                
+            }
+            else{
+#ifdef BLUE
+                targ_sita+=PI/4.0;
+#else 
+                targ_sita-=PI/4.0;
 #endif
+            }
         }
     }
     if(b!=1) edge1=1;