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:
17:bafc6a46b3df
Parent:
16:7ce4ab00621a
Child:
18:1d89ec4148ec
--- a/main.cpp	Thu Mar 05 09:56:08 2020 +0000
+++ b/main.cpp	Thu Mar 05 11:22:58 2020 +0000
@@ -96,9 +96,9 @@
 //目的地決定
 int plot[5][2]= {
     {0,0}
-    ,{0,15000}
-    ,{5000,15000}
-    ,{5000,0}
+    ,{0,10000}
+    ,{2500,1000}
+    ,{2500,0}
     ,{0,0}
 };
 
@@ -116,7 +116,11 @@
     }
     void setOmega(int max)
     {
-        max_=max;
+        if(max >= 0) {
+            max_=max;
+        } else {
+            max_ = -1 * max;
+        }
     }
     void setVxy(double vx,double vy)
     {
@@ -159,13 +163,13 @@
 {
     double distance,z,zMax;
     distance = sqrt((double)dx_*dx_+dy_*dy_);
-    z=0.003*distance;
-    zMax=20;
+    z=0.005*distance;
+    zMax=10;
     if(z>zMax) {
         z=zMax;
     }
-    if(time_<2) {
-        z=z*(time_/2);
+    if(time_<1) {
+        z=z*time_;
     }
     return z;
 }
@@ -229,16 +233,15 @@
         omega.setVxy(vx,vy);
         omega.calOmega();
 
-        if(dx<50 && dx>-50 && dy<50 && dy>-50) {
+        if(dx<500 && dx>-500 && dy<500 && dy>-500) {
             n++;
             printf("reach");
             ticker.detach();
             for(int j=0; j<4; j++) {
                 motor[j].stop();
             }
+            wait(1);
             time.reset();
-            wait(1);
-            time.start();
         }
 
         if(n>4) {