春ロボ1班(元F3RC4班+) / Mbed 2 deprecated harurobo_ashi_3_20

3/20 2:04

Dependencies:   mbed move4wheel2 EC CruizCore_R1370P

Diff: movement/movement.cpp

Revision:
1:3c11e07da92a
Parent:
0:c61c6e4775ca
Child:
3:8a0faa3b08c3
--- a/movement/movement.cpp	Wed Feb 13 03:02:19 2019 +0000
+++ b/movement/movement.cpp	Mon Feb 25 06:18:09 2019 +0000
@@ -63,6 +63,8 @@
     ec_ticker.attach(&calOmega,0.05);  //0.05秒間隔で角速度を計算
     EC1.setDiameter_mm(48);
     EC2.setDiameter_mm(48);  //測定輪半径//後で測定
+    info.nowX.enc = -2962; //初期位置の設定
+    info.nowY.enc = 3500;
 }
 
 void calOmega()  //角速度計算関数
@@ -109,6 +111,7 @@
     }
     
     if(now_x > -1 && now_x < 1){
+        
         ashi_data[2] = 1;
     }else{
         ashi_data[2] = 0;