2015_robocon_bteam / Mbed 2 deprecated 2015robot_main_zenkoku

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Dependencies:   PID QEI mbed

Diff: main_ps3.cpp

Revision:
42:c420857a3a6f
Parent:
41:cd916d59832d
Child:
43:a7423cfee3c8
--- a/main_ps3.cpp	Tue Nov 17 08:17:19 2015 +0000
+++ b/main_ps3.cpp	Wed Nov 18 04:24:35 2015 +0000
@@ -383,7 +383,7 @@
                 mstep=11;
             }
             if((mstep==11)&&((velocity<5.0)&&(velocity>-5.0))){
-                targ_sita=PI/4.0+PI/16.0+PI/45.0;
+                targ_sita=PI/4.0+PI/16.0+PI/45.0+PI/90.0+PI/180.0;
                 swingmoved=2;
                 mstep=252;
             }
@@ -401,7 +401,7 @@
                 targ_velocity=speed;
                 mstep=14;
             }
-            if((mstep==14)&&(x<1300.0)){
+            if((mstep==14)&&(x<1400.0)){
                 targ_sita=5*PI/6.0;
                 mstep=15;
             }
@@ -417,7 +417,7 @@
                 mstep=21;
             }
             if((mstep==21)&&((velocity<5.0)&&(velocity>-5.0))){
-                targ_sita=PI/4.0-PI/8.0+PI/60.0;
+                targ_sita=PI/4.0-PI/8.0+PI/60.0+PI/90.0;
                 swingmoved=2;
                 mstep=253;
             }
@@ -488,7 +488,7 @@
                 mstep=11;
             }
             if((mstep==11)&&((velocity<5.0)&&(velocity>-5.0))){
-                targ_sita=-PI/3.0-PI/10.0+PI/4.0;
+                targ_sita=-PI/3.0-PI/10.0+PI/4.0-PI/50.0;
                 swingmoved=2;
                 mstep=252;
             }