Diff: main.cpp

Revision:

6:e332ebb90091

Parent:

5:7d50cbf6674b

--- a/main.cpp	Tue Sep 04 07:13:44 2018 +0000
+++ b/main.cpp	Tue Sep 04 07:28:06 2018 +0000
@@ -15,8 +15,8 @@
 DigitalOut motor1cw(p27);
 DigitalOut motor2cw(p28);
 
-EC ec1 (p12,p11,NC,500,0.05)
-EC ec2 (p14,p13,NC,500,0.05)
+Ec ec1 (p12,p11,NC,500,0.05)
+Ec ec2 (p14,p13,NC,500,0.05)
 
 /*直進用*/
 void straight(int x)  //x=車輪の移動距離(mm)
@@ -25,9 +25,10 @@
     mortor2.period_us(50);
     ec1.setDiameter_mm(150);
     ec2.setDiameter_mm(150);
+    ec1.reset();
+    ec2.reset();
     double EC1_distance = ec1.getDistance_mm ();
     double EC2_distance = ec2.getDistance_mm ();
-
     while(fabs(EC1_distance) <= x && fabs(EC2_distance) <= x) {
         motor1 = ; //モータ1への出力
         motor2 = ; //モータ2への出力
@@ -43,9 +44,10 @@
     mortor2.period_us(50);
     ec1.setDiameter_mm(150);
     ec2.setDiameter_mm(150);
+    ec1.reset();
+    ec2.reset();
     double EC1_distance = ec1.getDistance_mm ();
     double EC2_distance = ec2.getDistance_mm ();
-
     while(fabs(EC1_distance) <= x && fabs(EC2_distance) <= x) {
         motor1 = ; //モータ1への出力
         motor2 = ; //モータ2への出力
@@ -61,9 +63,10 @@
     mortor2.period_us(50);
     ec1.setDiameter_mm(150);
     ec2.setDiameter_mm(150);
+    ec1.reset();
+    ec2.reset();
     double EC1_distance = ec1.getDistance_mm ();
     double EC2_distance = ec2.getDistance_mm ();
-
     while(fabs(EC1_distance) <= x && fabs(EC2_distance) <= x) {
         motor1 = ; //モータ1への出力
         motor2 = ; //モータ2への出力
@@ -79,9 +82,10 @@
     mortor2.period_us(50);
     ec1.setDiameter_mm(150);
     ec2.setDiameter_mm(150);
+    ec1.reset();
+    ec2.reset();
     double EC1_distance = ec1.getDistance_mm ();
     double EC2_distance = ec2.getDistance_mm ();
-
     while(fabs(EC1_distance) <= x && fabs(EC2_distance) <= x) {
         motor1 = ; //モータ1への出力
         motor2 = ; //モータ2への出力