Diff: main.cpp

Revision:

1:f70beec382b6

Parent:

0:99f4fe3e21c6

diff -r 99f4fe3e21c6 -r f70beec382b6 main.cpp
--- a/main.cpp	Wed Dec 01 08:14:01 2021 +0000
+++ b/main.cpp	Fri Dec 03 08:22:57 2021 +0000
@@ -3,17 +3,29 @@
 #include "Function.h"
 
 int main() {
-    while(1) {
-    Move('2', 0.3);
-        while(FrontGet()) {
-        xbee.printf("front get\n\r");
-        Move('1', 0);      //停止
-        xbee.printf("mortor mode:1 speed:0\n\r");
-        Move('4', 0.3);    //時計回り回転
-        xbee.printf("mortor mode:4 speed:0.5\n\r");
-        wait(1);
-        Move('1', 0);      //回転停止
-        xbee.printf("mortor mode:1 speed:0\n\r");
+    double angle = 0;
+    
+    Calibration();
+
+    compass.setOpMode(HMC6352_CONTINUOUS, 1, 20);
+    angle = compass.sample() / 10;
+    xbee.printf("%f\r\n", angle);
+
+        //角度調節
+         while(1) {
+            if(angle < 20 || angle > 340) {  //角度判定
+                xbee.printf("direction finish\n\r");
+                Move('1', 0);   //停止
+                wait(5);
+                compass.setOpMode(HMC6352_CONTINUOUS, 1, 20);
+                angle = compass.sample() / 10;
+                xbee.printf("%f\r\n", angle);
+                            }
+            else {
+                Move('4', 0.15);//時計回りに回転
+                compass.setOpMode(HMC6352_CONTINUOUS, 1, 20);
+                angle = compass.sample() / 10;
+                xbee.printf("%f\r\n", angle);
+            }
         }
-    }
-}
+}
\ No newline at end of file