2020_TeamA / Mbed 2 deprecated Yoshida_MiniRobo

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Dependencies:   mbed YKNCT_Movement SBDBT BNO055 YKNCT_MD YKNCT_I2C

Diff: main.cpp

Revision:
19:0840e182f96d
Parent:
18:61d3a2b78aee
Child:
20:79f96d223e5d
--- a/main.cpp	Thu Mar 19 06:30:59 2020 +0000
+++ b/main.cpp	Thu Mar 19 07:04:51 2020 +0000
@@ -401,12 +401,22 @@
     Y=Rest(Y,100);
     R=Rest(R,100);
 
+
+ 
+
     /* オムニ計算結果をtmpに */
     int tmp[4]= {0};
+    
+    /* 一度データをtmpに保存 */
+    for(int i=0;i<4;i++)
+        tmp[i]=MovMotor[i];
+        
+    /* オムニ計算 */
     omuni.XmarkOmni_Move(X,Y,R);
-
+    
     /* 計算結果を加算する */
-    for(int i=0; i<4; i++) MovMotor[i]+=tmp[i];
+    for(int i=0; i<4; i++)
+        MovMotor[i]+=tmp[i];
 }