2015_robocon_bteam
/
2015robot_main_zenkoku
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Revision 43:a7423cfee3c8, committed 2015-11-19
- Comitter:
- DeguNaoto
- Date:
- Thu Nov 19 07:25:27 2015 +0000
- Parent:
- 42:c420857a3a6f
- Commit message:
- 20151119 ????????
Changed in this revision
| autoMode.h | Show annotated file Show diff for this revision Revisions of this file |
| main_ps3.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- 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;
--- a/main_ps3.cpp Wed Nov 18 04:24:35 2015 +0000
+++ b/main_ps3.cpp Thu Nov 19 07:25:27 2015 +0000
@@ -64,7 +64,7 @@
// targ_sita=0.0;
targ_sita=-0.03;
}
- if((step==3)&&(x<1700.0)) {
+ if((step==3)&&(x<1800.0)) {
targ_sita=PI/4;
step=4;
}
@@ -105,15 +105,15 @@
CStep=7;
}*/
/////////////////////////////////////////
- if((x<7800.0)&&(CStep==5)) {
+ if((x<7830.0)&&(CStep==5)) {
if(!skip) sendData(1,6); //front
CStep=6;
}
- if((x<6670.0)&&(CStep==6)) {
+ if((x<6710.0)&&(CStep==6)) {
if(!skip) sendData(1,5); //middle
CStep=7;
}
- if((x<5470.0)&&(CStep==7)) {
+ if((x<5500.0)&&(CStep==7)) {
if(!skip) sendData(1,4); //over
CStep=8;
}
@@ -143,7 +143,7 @@
// targ_sita=0.0;
targ_sita=-0.03;
}
- if((step==13)&&(x<1450.0)) {
+ if((step==13)&&(x<1400.0)) {
targ_sita=PI/4;
step=14;
}
@@ -153,15 +153,15 @@
}
//Cylinderd
- if((x>3200.0)&&(CStep==10)) {
+ if((x>3230.0)&&(CStep==10)) {
if(!skip) sendData(1,1);
CStep=11;
}
- if((x>6050.0)&&(CStep==11)) {
+ if((x>6100.0)&&(CStep==11)) {
if(!skip) sendData(1,2);
CStep=12;
}
- if((x>7700.0)&&(CStep==12)) {
+ if((x>7750.0)&&(CStep==12)) {
if(!skip) sendData(1,3);
CStep=13;
}
@@ -170,16 +170,16 @@
CStep=14;
}
if((x>9900.0)&&(CStep==14)) CStep=15;
- if((x<9500.0)&&(CStep==15)) { //7.8
+// if((x<9500.0)&&(CStep==15)) { //7.8
+ if((x<9600.0)&&(CStep==15)) { //7.8
if(!skip) sendData(1,4);
CStep=16;
}
- if((x<7800.0)&&(CStep==16)) { //7.8
-// if((x<7950.0)&&(CStep==16)) { //7.8
+ if((x<7750.0)&&(CStep==16)) { //7.8
if(!skip) sendData(1,5);
CStep=17;
}
- if((x<5400.0)&&(CStep==17)) { //7.8
+ if((x<5500.0)&&(CStep==17)) { //7.8
// if((x<5750.0)&&(CStep==17)) { //7.8
if(!skip) sendData(1,6);
CStep=18;
@@ -256,7 +256,7 @@
if(!skip) sendData(1,4); //front
CStep=6;
}
- if((x<6830.0)&&(CStep==6)) {
+ if((x<6800.0)&&(CStep==6)) {
if(!skip) sendData(1,5); //middle
CStep=7;
}
@@ -342,12 +342,12 @@
manualIM920(); /*IM920 button*/
#ifdef BLUE
/********************************Swing Mode(middle)*********************************/
- if((mstep==0)&&((10000.0>x)&&(x>1350.0))) {
+ if((mstep==0)&&((10000.0>x)&&(x>1400.0))) {
dpcount=speed;
mstep=1;
}
if((mstep==1)&&((velocity<5.0)&&(velocity>-5.0))){
- targ_sita=PI/4.0+PI/30.0;
+ targ_sita=PI/4.0+PI/30.0+PI/180.0;
swingmoved=2;
mstep=251;
}
@@ -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-PI/50.0;
+ targ_sita=-PI/3.0-PI/10.0+PI/4.0-PI/38.0;
swingmoved=2;
mstep=252;
}