Revision 14:caab74db0c6d, committed 2016-10-21

Comitter:

abcdefgh

Date:

Fri Oct 21 08:17:51 2016 +0000

Parent:

13:9e04b53e875a

Commit message:

a

Changed in this revision

diff -r 9e04b53e875a -r caab74db0c6d momoi_taka.cpp
--- a/momoi_taka.cpp	Fri Jun 10 17:27:13 2016 +0000
+++ b/momoi_taka.cpp	Fri Oct 21 08:17:51 2016 +0000
@@ -8,6 +8,9 @@
 int RSX,RSY,LSX,LSY,BSU,BSL;
 //これより下に関数外に書く要素を記入する
 double flag;
+
+int a;
+int b;
 //MD1
 PwmOut motorRightOne (p23);
 PwmOut motorRightTwo (p24);
@@ -93,32 +96,27 @@
      */
 
 //motor
-    if((ButtonState >> BUTTONSTART)&1 == 1) {
-        flag = 0;
+    if((ButtonState >> BUTTONL2)&1 == 1) {
+     flag -= 0.10;
+        wait(0.1);
     } else if((ButtonState >> BUTTONR2)&1 == 1) {
-        flag += 0.05;
-        wait(0.1);
-    } else if((ButtonState >> BUTTONL2)&1 == 1) {
-        flag -= 0.05;
+        flag = 0;
         wait(0.1);
     }
-    if(flag >= 1.0) {
-        flag = 1.0;
-    }
-    if(flag <= -0.3) {
-        flag = -0.2;
+    if(flag <= -0.4) {
+        flag = -0.4;
     }
 
     if(LSY>140 && ((ButtonState >> BUTTONLANALOG)&1) == 1) {
-        motorRightOne = 0.8;
+        motorRightOne = 0.9;
         motorRightTwo = 0;
-        motorLeftOne = 0.8;
+        motorLeftOne = 0.9;
         motorLeftTwo = 0;
     } else if(LSY<110 && ((ButtonState >> BUTTONLANALOG)&1) == 1) {
         motorRightOne = 0;
-        motorRightTwo = 0.8;
+        motorRightTwo = 0.9;
         motorLeftOne = 0;
-        motorLeftTwo = 0.8;
+        motorLeftTwo = 0.9;
     } else if(  LSY > 140 ) { //forward
         motorRightOne = 0.6 + flag;
         motorRightTwo = 0;
@@ -139,8 +137,8 @@
 
     if(( ButtonState >> BUTTONR1)&1 == 1) {
         motorRightOne = 0;
-        motorRightTwo = 0.7 + flag;
-        motorLeftOne = 0.7 + flag;
+        motorRightTwo = 0.6 + flag;
+        motorLeftOne = 0.6 + flag;
         motorLeftTwo = 0;
     }
     if(( ButtonState >> BUTTONL1)&1 == 1) {
@@ -156,18 +154,20 @@
         armThree = 0;
         armFour = 1;
         armLeft = 0.4;
+
     } else if( (ButtonState >> BUTTONCROSS)&1 == 1 ) {
         armThree = 1;
         armFour = 0;
         armLeft = 0.4;
+
     } else {
         armThree = 0;
         armFour = 0;
         armLeft = 0;
-
+     
     }
-
-     if((ButtonState >> BUTTONSQUARE)&1 == 1) {
+    
+    if((ButtonState >> BUTTONSQUARE)&1 == 1) {
         armOne = 1;
         armTwo = 0;
         armRight = 0.4;
@@ -179,22 +179,23 @@
         armOne = 0;
         armTwo = 0;
         armRight = 0;
-
-        /*
-        With oen if, put both arms and legs.
-
-        Use start and select??
+    }
 
 
-        */
+    /*
+    With oen if, put both arms and legs.
+
+    Use start and select??
+
+
+    */
 
 
 
-        /*
-            led3=ButtonState & 0x0400;  //L1の状態
-            led4=ButtonState & 0x0800;  //R1の状態
-          */  //値の取得はps3.hを参照
+    /*
+        led3=ButtonState & 0x0400;  //L1の状態
+        led4=ButtonState & 0x0800;  //R1の状態
+      */  //値の取得はps3.hを参照
 
-    }
 
 }
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