修正済みby皆川
Dependencies: mbed Servo cansat_integrated_2 BMP180
Dependents: cansat_integrated_2
Diff: Movement.cpp
- Revision:
- 13:c482c4d7a585
- Parent:
- 12:79946f960100
--- a/Movement.cpp Fri Nov 05 15:41:24 2021 +0000 +++ b/Movement.cpp Sun Dec 19 02:42:53 2021 +0000 @@ -2,11 +2,11 @@ #include "Servo.h" #include "Movement.h" -Servo servo1(D7); -Servo servo2(A3); -Servo servo3(A1); -Servo servo4(D12); -Servo servo5(D10); +Servo servo1(A1); +Servo servo2(A3); +Servo servo3(D10); +Servo servo4(D7); +Servo servo5(D12); Servo servo6(A5); void Movement::stop(){ @@ -22,58 +22,45 @@ //前進 void Movement::move_forward(int time = 20) { - servo1 = 0; - servo2 = 0; - servo3 = 0; - servo4 = 0; - servo5 = 0; - servo6 = 0; + servo5 = 1; wait(time); } //後退 void Movement::move_backward() - { - servo1 = 1; - servo2 = 1; - servo3 = 1; - servo4 = 1; - servo5 = 1; - servo6 = 1; + { + servo1 = 0.7; + servo2 = 0.7; + servo3 = 0.7; + servo4 = 0.3; + servo5 = 0.3; + servo6 = 0.3; wait(5); } //右に曲がる void Movement::turn_right(int theta = 15) { - servo1 = 1; - servo2 = 1; - servo3 = 1; - servo4 = 0; - servo5 = 0; - servo6 = 0; + servo1 = 0.3; + servo2 = 0.3; + servo3 = 0.5; + servo4 = 0.5; + servo5 = 0.3; + servo6 = 0.3; wait(abs(theta)/15); } //左に曲がる void Movement::turn_left(int theta = 15) { - servo1 = 0; - servo2 = 0; - servo3 = 0; - servo4 = 1; - servo5 = 1; - servo6 = 1; + servo1 = 0.5; + servo2 = 0.7; + servo3 = 0.7; + servo4 = 0.7; + servo5 = 0.7; + servo6 = 0.5; wait(abs(theta)/15); } - -//倒れているときの処理 -void Movement::wakeup(int time){ - for(int i=1;i<=time;i++) - { - move_forward(5); - move_backward(); - turn_right(); - turn_left(); - } -} \ No newline at end of file + + + \ No newline at end of file