Diff: Movement.cpp

Revision:

13:c482c4d7a585

Parent:

12:79946f960100

diff -r 79946f960100 -r c482c4d7a585 Movement.cpp
--- 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