2020_TeamA / Mbed 2 deprecated somaomuni2

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Dependencies:   mbed YKNCT_Movement SBDBT BNO055 YKNCT_MD YKNCT_I2C

Diff: main.cpp

Revision:
3:b77f51108bf1
Parent:
2:ec149525ec2a
Child:
4:05a6bda2e11f
--- a/main.cpp	Tue Mar 17 05:17:59 2020 +0000
+++ b/main.cpp	Tue Mar 17 06:05:28 2020 +0000
@@ -307,6 +307,9 @@
     double theta_tar=0.0;
 
     while(1) {
+        /* 自己位置更新 */
+        LocEstimate();
+
         x_vel = ABS((tar_x - NowLoc.X) * 0.06);
         y_vel = ABS((tar_y - NowLoc.Y) * 0.06);
 
@@ -331,7 +334,7 @@
         theta_tar = (((double)log_distance - remain) / log_distance) * (tar_theta - NowLoc.theta) + NowLoc.theta;;
         /* 合わせるthetaと現在thetaの差分からtheta補整をかける */
         t_vel = (theta_tar - NowLoc.theta) * 1.5;
-        
+
         t_vel = Rest(t_vel, 20);
 
         omuni.XmarkOmni_Move(x_vel,y_vel,t_vel);
@@ -351,7 +354,7 @@
             /* タイマー停止 */
             P_fin.stop();
             P_fin.reset();
-            
+
             break;
         }
     }