Diff: main.cpp

Revision:

5:cc7917e8c442

Parent:

4:975b0d9bd51b

Child:

6:326208aabe68

--- a/main.cpp	Wed Nov 10 09:16:37 2021 +0000
+++ b/main.cpp	Wed Nov 10 12:17:25 2021 +0000
@@ -50,37 +50,47 @@
         while (1) {
                 speak();
                 direction = AngleGet();
-                pc.printf("direction=%f\n", direction);
-                xbee.printf("direction=%f\n", direction);
+                pc.printf("direction=%f\n\rdirection start", direction);
+                xbee.printf("direction=%f\n\rdirection start", direction);
+                int df=1;
                 //角度調節
                 while(1) {
                     if(direction < 5 || direction > 355) {  //角度判定
+                        pc.printf("direction finish\n\r");
+                        xbee.printf("direction finish\n\r");
                         break;
                     }
                     else {
                         Move('1', 0);//停止
-                        pc.printf("mortor mode:1 speed:0");
-                        xbee.printf("mortor mode:1 speed:0");
+                        if(df==1){
+                        pc.printf("mortor mode:1 speed:0\n\r");
+                        xbee.printf("mortor mode:1 speed:0\n\r");
+                        }
                         Move('4', 0.5);//時計回りに回転
-                        pc.printf("mortor mode:4 speed:0.5");
-                        pc.printf("mortor mode:4 speed:0.5");
+                        if(df==1){
+                        pc.printf("mortor mode:4 speed:0.5\n\r");
+                        pc.printf("mortor mode:4 speed:0.5\n\r");
+                        df++;
+                        direction = AngleGet();
+                        }
                     }
                 }
-                
                 while(FrontGet()) {
+                    pc.printf("front get\n\r");
+                    xbee.printf("frontget\n\r");
                     Move('1', 0);      //停止
-                    pc.printf("mortor mode:1 speed:0");
-                    xbee.printf("mortor mode:1 speed:0");
+                    pc.printf("mortor mode:1 speed:0\n\r");
+                    xbee.printf("mortor mode:1 speed:0\n\r");
                     Move('4', 0.5);    //時計回り回転
-                    pc.printf("mortor mode:4 speed:0.5");
-                    xbee.printf("mortor mode:4 speed:0.5");
+                    pc.printf("mortor mode:4 speed:0.5\n\r");
+                    xbee.printf("mortor mode:4 speed:0.5\n\r");
                     wait(1);
                     Move('1', 0);      //回転停止
-                    pc.printf("mortor mode:1 speed:0");
-                    xbee.printf("mortor mode:1 speed:0");
+                    pc.printf("mortor mode:1 speed:0\n\r");
+                    xbee.printf("mortor mode:1 speed:0\n\r");
                 } 
-                pc.printf("\n\rflag=xbee ni Input");
-                xbee.printf("\n\rspeed flag=");
+                pc.printf("flag=xbee ni Input");
+                xbee.printf("speed flag=");
                 wait(3);
                 float as;//advance speed
                 if(xbee.readable()){