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: main_ps3.cpp

Revision:
12:ffea2f8c861f
Parent:
10:8a2255451513
Child:
18:c127b39b3776
--- a/main_ps3.cpp	Mon Nov 02 08:48:04 2015 +0000
+++ b/main_ps3.cpp	Mon Nov 02 11:42:21 2015 +0000
@@ -67,7 +67,6 @@
             //Blue            
             /********************************Nomal Mode*********************************/
             if((step==0)&&((8650.0>x)&&(x>800.0))) {
-//                targ_sita=0.025;
                 targ_sita=0.0;
                 step=1;
             }
@@ -83,7 +82,6 @@
                 step=3;
                 spcount=0.0;
                 flagf=0;
-//                targ_sita=0.1;
                 targ_sita=0.0;
             }
 //            if((step==3)&&(x<2000.0)) {
@@ -123,7 +121,6 @@
             /////////////////////////////////////////////////////////////////////////
             /******************************Middle Mode******************************/
             if((step==5)&&((5700.0>x)&&(x>800.0))) {
-//                targ_sita=0.025;
                 targ_sita=0.0;
                 step=6;
             }
@@ -230,7 +227,6 @@
                 if(!skip) sendData(1,1);
                 CStep=2; 
             }
-//            if((x>5940.0+deff)&&(CStep==2)) {
             if((x>6000.0+deff)&&(CStep==2)) {
                 if(!skip) sendData(1,2);
                 CStep=3;
@@ -293,11 +289,9 @@
             /////////////////////////////////////////////////////////////////////////
             /*****************************Opponents Mode****************************/
             if((step==15)&&((5700.0>x)&&(x>50.0))) {
-//                targ_sita=-0.035;
                 targ_sita=-0.025;
                 step=16;
             }
-//            if((step==16)&&(x>2800.0+deff)){
             if((step==16)&&(x>2850.0+deff)){
                 targ_velocity=0.0;
                 step=17;
@@ -316,14 +310,11 @@
                 step=114;
             }
             
-//            if((x>1350.0+deff)&&(CStep==15)){
             if((x>1400.0+deff)&&(CStep==15)){
                 sendData(1,4);
                 CStep=16;
             }
             if((x>2700.0+deff)&&(CStep==16)){
-//            if((x>2650.0+deff)&&(CStep==16)){
-//            if((x>2850.0+deff)&&(CStep==16)){
                 sendData(1,5);
                 CStep=17;
             }