Diff: User.cpp

Revision:

23:33a40d8c0535

Parent:

22:e88dd3acec2b

Child:

24:3610bcb8e275

--- a/User.cpp	Wed Aug 23 16:41:56 2017 +0000
+++ b/User.cpp	Thu Aug 24 03:52:13 2017 +0000
@@ -30,9 +30,9 @@
 
 double fai=60;//φ
 //個体差で出力調整
-double power_f=0.8;
-double power_l=0.8;
-double power_r=0.8;
+double power_f=0.2;
+double power_l=0.2;
+double power_r=0.2;
 
 double M1;
 double M2;
@@ -86,12 +86,12 @@
 {
     spi.format(8,3);
     spi.frequency(1000000);
-    motor_f_1.period_us(50);
-    motor_f_2.period_us(50);
-    motor_l_1.period_us(50);
-    motor_l_2.period_us(50);
-    motor_r_1.period_us(50);
-    motor_r_2.period_us(50);
+    motor_f_1.period_us(100);
+    motor_f_2.period_us(100);
+    motor_l_1.period_us(100);
+    motor_l_2.period_us(100);
+    motor_r_1.period_us(100);
+    motor_r_2.period_us(100);
 
 }
 
@@ -200,35 +200,13 @@
 
         sita=0;
     } else {
-        if(LSX>=center && LSX<=255 && LSY>=center && LSY<=255) { //第四象限
-            sita = -1.0*(atan2((double)LSY-center,(double)LSX-center))*180/Pi;
-            sita_2=90-sita;
-            M1=sin((sita_2-(fai+0))*Pi/180)*power_f;
-            M2=sin((sita_2-(fai+240))*Pi/180)*power_l;
-            M3=sin((sita_2-(fai+120))*Pi/180)*power_r;
-            motor_act();
-        } else if(LSX>=0 && LSX<=center && LSY>=center && LSY<=255) { //第三象限
             sita = -1.0*(atan2((double)LSY-center,(double)LSX-center))*180/Pi;
             sita_2=90-sita;
             M1=sin((sita_2-(fai+0))*Pi/180)*power_f;
             M2=sin((sita_2-(fai+240))*Pi/180)*power_l;
             M3=sin((sita_2-(fai+120))*Pi/180)*power_r;
             motor_act();
-        } else if(LSX>=0 && LSX<=center && LSY>=0 && LSY<=center) { //第二象限
-            sita = -1.0*(atan2((double)LSY-center,(double)LSX-center))*180/Pi;
-            sita_2=90-sita;
-            M1=sin((sita_2-(fai+0))*Pi/180)*power_f;
-            M2=sin((sita_2-(fai+240))*Pi/180)*power_l;
-            M3=sin((sita_2-(fai+120))*Pi/180)*power_r;
-            motor_act();
-        } else if(LSX>=center && LSX<=255 && LSY>=0 && LSY<=center) { //第一象限
-            sita = -1.0*(atan2((double)LSY-center,(double)LSX-center))*180/Pi;
-            sita_2=90-sita;
-            M1=sin((sita_2-(fai+0))*Pi/180)*power_f;
-            M2=sin((sita_2-(fai+240))*Pi/180)*power_l;
-            M3=sin((sita_2-(fai+120))*Pi/180)*power_r;
-            motor_act();
-        }
+        } 
 //真っすぐだけのプログラム(いらない）
 
         /*else if(LSX==255) {
@@ -264,7 +242,7 @@
                  motor_act();
              } */
 
-    }
+