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:
7:44ce34007499
Parent:
6:26724c287387
Child:
8:2ba338b4590e
--- a/movement/movement.cpp	Sat Mar 02 07:48:18 2019 +0000
+++ b/movement/movement.cpp	Sat Mar 02 08:27:05 2019 +0000
@@ -465,7 +465,7 @@
         r=hypot(now_x - tgt_x, now_y - tgt_y);
 
         if(r < R) break;
-
+        if(id1_value[0] != 1)break;
     }
 
     while(1) {
@@ -483,7 +483,7 @@
         }
 
         if(tgt_angle - 0.5 < now_angle && now_angle < tgt_angle + 0.5) break;  //目標角度からの許容誤差内に機体の角度が収まった時、補正終了
-
+        if(id1_value[0] != 1)break;
     }
     MaxonControl(0,0,0,0);
 }
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