2020_TeamA / Mbed 2 deprecated Yoshida_MiniRobo

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:   mbed YKNCT_Movement SBDBT BNO055 YKNCT_MD YKNCT_I2C

Diff: main.cpp

Revision:
9:94112b5df540
Parent:
8:367c7d6ef5a3
Child:
10:9ee22b22e583
--- a/main.cpp	Mon Mar 16 05:21:36 2020 +0000
+++ b/main.cpp	Mon Mar 16 05:39:32 2020 +0000
@@ -158,11 +158,12 @@
             if(yawCnt.read_ms()<1000) TarTheta=NowLoc.theta;
             /* r_val補正 */
             r_val+=(TarTheta-NowLoc.theta)*CONST_CORRECTION_YAW;
-            
-            if(DS3.R1) ToWall();
 
             omuni.XmarkOmni_Move(x_val,y_val,r_val);
             
+            /* 壁あて実行 */
+            if(DS3.R1) ToWall();
+            
             for(int i=0; i<4; i++)
                 MD.Set(i,MovMotor[i]);
         }
@@ -289,10 +290,10 @@
 *******************************************************************************/
 void ToWall(void)
 {
-    if(limL==0)
+    if(In.Get(0)==0)
         for(int i=0; i<2; i++) MovMotor[i]-=10;
     else for(int i=0; i<2; i++) MovMotor[i]+=0;
-    if(limR==0)
+    if(In.Get(1)==0)
         for(int i=2; i<4; i++) MovMotor[i]+=10;
     else for(int i=2; i<4; i++) MovMotor[i]+=0;
 }
\ No newline at end of file