2015_robocon_bteam / Mbed 2 deprecated 2015robot_main_zenkoku

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Dependencies:   PID QEI mbed

Diff: manualMode.h

Revision:
21:bdf8ac5c200c
Parent:
17:726b6f53a457
Child:
23:26f9483439fe
--- a/manualMode.h	Thu Nov 05 08:21:23 2015 +0000
+++ b/manualMode.h	Fri Nov 06 11:35:39 2015 +0000
@@ -11,9 +11,9 @@
         }
     }
     #ifdef MESURE
-    if(mesureflag){
-        fprintf(fp_r, "%1.3f %f\r\n",time,velocity);
-    }
+//    if(mesureflag){
+        fprintf(fp_r, "time:%1.3f ,x:%f ,y:%f ,sita:%f ,testflag:%d\r\n",time,x,y,sita,testflag);
+//    }
     #endif
 }
 
@@ -86,13 +86,13 @@
     else if(b==5){
         if(edge5){
             edge5=0;
-            /*resetSwingSpeed = 1;
-            interruptSwingSpeed.attach(&countSwingSpeed, 0.05);*/
-            for(float i=0.0;i<0.6;i+=0.01){
+            resetSwingSpeed = 1;
+            interruptSwingSpeed.attach(&countSwingSpeed, 0.05);
+            /*for(float i=0.0;i<0.6;i+=0.01){
                 Motor_swing=i;
                 wait(0.001);
             }
-            Motor_swing = 0.6;
+            Motor_swing = 0.6;*/
         }
     }
     else if(b==8){
@@ -160,6 +160,7 @@
     if(b!=3) edge3=1;
     if(b!=4) edge4=1;
     if(b!=5) edge5=1;
+    if(b!=6) edge6=1;
     if(b!=8) edge8=1;
     if(b!=9) edge9=1;
 }