Diff: main.cpp

Revision:

1:0ff59878537a

Parent:

0:da183064372e

Child:

2:a682612dd8b7

--- a/main.cpp	Mon Sep 03 05:00:04 2018 +0000
+++ b/main.cpp	Mon Sep 03 05:21:06 2018 +0000
@@ -24,11 +24,28 @@
 //SpeedControl (p11,p12,/*z相*/,/*分解能*/,0.05,,) pwmでないのでscは使えないかも
 //SpeedControl (p13,p14,/*z相*/,/*分解能*/,0.05,,) pwmでないのでscは使えないかも
 
-/*直進*/
+/*直進用*/
 void straight(double t,int l)  //t=時間 l=移動距離
 {
     mortor1.period_us(50);
     mortor2.period_us(50);
+    double EC1_omega = wheel_1.getOmega(); //ec1の角速度
+    double EC2_omega = wheel_2.getOmega(); //ec2の角速度
+    double L_1 = EC1_omega*"ecの半径"*t;
+    double L_2 = EC2_omega*"ecの半径"*t;
+    while(L_1 <= l && L_2 <= l) {
+        motor1 = ;
+        motor2 = ;
+        motor1cw = ;
+        motor2cw = ;
+    }
+}
+
+/*後退用*/
+void back(double t,int l)  //t=時間 l=移動距離
+{
+    mortor1.period_us(50);
+    mortor2.period_us(50);
     double EC1_omega = wheel_1.getOmega();
     double EC2_omega = wheel_2.getOmega();
     double L_1 = EC1_omega*"ecの半径"*t;