春ロボ　ロケット団 / Mbed 2 deprecated Spring_motor_test2

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Dependencies:   mbed SpeedController Encoder CruizCore_R1370P

Diff: main.cpp

Revision:
12:7e11d1d5f22c
Parent:
10:f8e7f39eae0d
Parent:
11:f9f3014598b9
Child:
13:f834d5e83e11
--- a/main.cpp	Thu Mar 05 07:36:21 2020 +0000
+++ b/main.cpp	Thu Mar 05 07:58:01 2020 +0000
@@ -1,3 +1,4 @@
+//a
 #include "mbed.h"
 #include "EC.h"
 #include "SpeedController.h"
@@ -154,6 +155,9 @@
         a++;
     }
 }
+
+double a=1;
+
 int main()
 {
     gyro.initialize();    //main関数の最初に一度だけ実行
@@ -205,20 +209,25 @@
         vy=dy/sqrt((double)dx*dx+dy*dy);
 
         //四輪の出力計算
-        omega.setOmega(10);
+        omega.setOmega(a);
         omega.setVxy(vx,vy);
         omega.calOmega();
 
         if(dx<300 &&dx>-300) {
             if(dy<300 && dy>-300) {
-                n++;
-                printf("reached Location %d\r\n",n);
-                ticker.detach();
-                for(int j=0; j<4; j++) {
-                    motor[j].Sc(0);
+                a=a-0.1;
+                if(dx<50 && dx>-50) {
+                    if(dy<50 && dy>-50) {
+                        n++;
+                        printf("reached Location %d\r\n",n);
+                        ticker.detach();
+                        for(int j=0; j<4; j++) {
+                            motor[j].Sc(0);
+                        }
+                        wait(2);
+                        ticker.attach(motorOut,0.05);
+                    }
                 }
-                wait(2);
-                ticker.attach(motorOut,0.05);
             }
 
         }