Diff: main.cpp

Revision:

20:f92bdcda5a60

Parent:

19:cb3a4b4c3526

Child:

21:18a196d3021c

--- a/main.cpp	Thu Aug 13 07:11:57 2015 +0000
+++ b/main.cpp	Fri Aug 14 04:56:21 2015 +0000
@@ -69,9 +69,9 @@
  int running_flag = 0;
 
 Timer compass_Timer;
-const int compass_Time = 500;
+const int compass_Time = 50;
 Timer running_Timer;
-const int running_Time = 500;
+const int running_Time = 50;
 Timer parachute_Timer;
 const int parachute_Time = 30000;
 /////////////////////////////////////////
@@ -90,8 +90,8 @@
 double preHeading = 0.0;
  
 int maxX, minX, maxY, minY;
-const int ofsX = 36;                   //calibration x
-const int ofsY = -425;                   //calibration y
+const int ofsX = -102;                   //calibration x
+const int ofsY = -381;                   //calibration y
 
     int16_t raw[3]; 
 
@@ -216,29 +216,21 @@
     if(t==r) {
         //前進
         return 'f';
-    } else if(n < 4) {
+    } else if(n == 4) {
+        return 'r';
+    } else if(n > 0 && n < 4) {
         if(t > r)
-            t -= 8;
+            return 'r';
         else
-            r -= 8; 
-            
-        if(r-t > 0)
+            return 'l';
+    } else if(n > 4 && n < 8){
+        if(t > r)
             return 'l';
         else
             return 'r';
-    } else if(n >= 4) {
-        if(t > r)
-            t -= 8;
-        else
-            r -= 8; 
-            
-        if(r-t > 0)
-            return 'r';
-        else
-            return 'l';
-    }
+    } else
+        return 'b';
     
-    return 'b';
 }
 
 //対象とロボットの角度