2015_robocon_bteam / Mbed 2 deprecated 2015robot_main_zenkoku

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Dependencies:   PID QEI mbed

Diff: autoMode.h

Revision:
43:a7423cfee3c8
Parent:
39:5ba406327aa3
--- a/autoMode.h	Wed Nov 18 04:24:35 2015 +0000
+++ b/autoMode.h	Thu Nov 19 07:25:27 2015 +0000
@@ -52,7 +52,7 @@
             sendData(5,70); //over
 //            sendData(5,68); //over
             wait(0.05);
-            sendData(4,70); //front
+            sendData(4,69); //front
 //            sendData(4,68); //front
             wait(0.05);
             sendData(6,14); //middle
@@ -85,10 +85,10 @@
             dpcount=0.0;
             direction_controller.setBias(0.0);
 #ifdef BLUE
-            sendData(5,68); 
+            sendData(5,65); 
 //            sendData(5,67); //over cylinder4
             wait(0.05);
-            sendData(4,72); 
+            sendData(4,67); 
 //            sendData(4,75); //front
             wait(0.05);
             sendData(6,1); //middle
@@ -113,17 +113,17 @@
     }
     if((b==8)&&(!flaga)){ //Middle Start
         if(edge8){
-            edge6=0;
+            edge8=0;
             resetState(1);
             flagf=1;
             spcount=0.0;
             dpcount=0.0;
             direction_controller.setBias(0.0);
 #ifdef BLUE
-            sendData(5,69); //over
+            sendData(5,70); //over
 //            sendData(5,69); //over
             wait(0.05);
-            sendData(4,70); //front
+            sendData(4,69); //front
 //            sendData(4,71); //front
             wait(0.05);
             sendData(6,11); //middle
@@ -131,14 +131,14 @@
             stateR = 69;
             stateL = 69;
 #else       
-            sendData(4,68); //over
-//            sendData(5,69); //over
+//            sendData(4,68); //over
+            sendData(4,69); //over
             wait(0.05);
-            sendData(5,71); //front
+            sendData(5,70); //front
 //            sendData(4,71); //front
             wait(0.05);
-            sendData(6,11); //middle
-//            sendData(6,7); //middle
+//            sendData(6,11); //middle
+            sendData(6,12); //middle
             stateR = 69;
             stateL = 69;
 #endif
@@ -171,13 +171,13 @@
             sendData(1,8);
         }
     }*/
-    /*if(a2){
+    if(b==7){
         skip = 1;
     }
-    else if(!a2){
+    else{
         skip = 0;
-    }*/
-    skip=0;
+    }
+//    skip=0;
     if(b!=1) edge1=1;
     if(b!=2) edge2=1;
     if(b!=3) edge3=1;