春ロボ1班(元F3RC4班+)
/
harurobo_ashi_3_3
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Dependencies: mbed move4wheel2 EC CruizCore_R1370P
Diff: main.cpp
- Revision:
- 4:317c53a674fa
- Parent:
- 3:8a0faa3b08c3
- Child:
- 5:6cebe1c458a9
diff -r 8a0faa3b08c3 -r 317c53a674fa main.cpp
--- a/main.cpp Fri Mar 01 00:48:07 2019 +0000
+++ b/main.cpp Fri Mar 01 08:00:53 2019 +0000
@@ -14,8 +14,6 @@
//#define PROGRAM_INFO //プログラム使用時に使用プログラムの情報を最初に表示する際に定義
#define HARUROBO_TEST_MODE //テスト自動プログラム（練習・動作確認用）使用時に定義
-//#define HARUROBO_RIGHT_MODE //本番用自動プログラム（右側フィールド）使用時に定義
-//#define HARUROBO_LEFT_MODE //本番用自動プログラム（左側フィールド）使用時に定義
int go_waitmode = 0;
@@ -56,17 +54,17 @@
//can_start();
//set_cond(2,1,-700,1,-700);
- gogo_straight(1,1,-2962,3500,-2962,3000,200,1000,5,0.1,10,0.1,600,0);
- purecurve(7,1,1,-2962,3000,-2317,2500,9,1000,5,0.1,10,0.1,600,0);
- purecurve(8,1,1,-2317,2500,-1672,2000,9,1000,5,0.1,10,0.1,600,0);
- gogo_straight(1,1,-1672,2000,-1672,1500,1000,200,5,0.1,10,0.1,600,0);
+ gogo_straight(1,1,-2962,3500,-2962,2900,200,1000,5,0.1,10,0.1,600,0);
+ purecurve(7,1,1,-2962,2900,-2317,2500,9,1000,5,0.1,10,0.1,600,0);
+ purecurve(8,1,1,-2317,2500,-1610,2000,9,1000,5,0.1,10,0.1,600,0);
+ gogo_straight(1,1,-1610,2000,-1610,1250,1000,200,5,0.1,10,0.1,600,0);
MaxonControl(0,0,0,0);
- set_cond(2,0,-1243,1,1076);
- pos_correction(-1672,1500,0,0,1);
+ set_cond(2,0,-1243,1,1080);
+ pos_correction(-1610,1250,0,1,0);
wait(0.5);
- gogo_straight(1,1,-1672,1500,-1672,2000,200,1000,5,0.1,10,0.1,600,0);
- purecurve(3,1,1,-1672,2000,-2317,2500,9,1000,5,0.1,10,0.1,600,0);
+ gogo_straight(1,1,-1610,1250,-1610,2000,200,1000,5,0.1,10,0.1,600,0);
+ purecurve(3,1,1,-1610,2000,-2317,2500,9,1000,5,0.1,10,0.1,600,0);
purecurve(4,1,1,-2317,2500,-2962,3000,9,1000,5,0.1,10,0.1,600,-90);
gogo_straight(1,1,-2962,3000,-2962,4000,1000,1000,5,0.1,10,0.1,600,-90);
gogo_straight(1,1,-2962,4000,-2962,4500,1000,200,5,0.1,10,0.1,600,-90);
@@ -74,9 +72,9 @@
pos_correction(-2962,4500,-90,1,1);
set_cond(0,0,-2462,0,0);
- gogo_straight(0,1,-2962,4500,-2850,4500,200,200,5,0.1,10,0.1,800,-90);
+ gogo_straight(1,1,-2962,4500,-2850,4500,200,200,5,0.1,10,0.1,800,-90);
MaxonControl(0,0,0,0);
- pos_correction(-2850,4500,-90,0,1);
+ pos_correction(-2850,4500,-90,1,1);
wait(0.5);
gogo_straight(1,1,-2850,4500,-2850,5150,200,1000,5,0.1,10,0.1,800,-90);
@@ -84,20 +82,20 @@
purecurve(1,1,1,-2257,5500,-1700,6000,9,1000,5,0.1,10,0.1,800,-90);
purecurve(3,1,1,-1700,6000,-2257,6647,9,1000,5,0.1,10,0.1,800,-90);
gogo_straight(1,1,-2257,6647,-2500,6647,1000,1000,5,0.1,10,0.1,800,-90);
- set_cond(1,0,0,0,7000);
- gogo_straight(1,0,-2500,6647,-2700,6647,1000,200,5,0.1,10,0.1,800,-90);
+ set_cond(2,1,-3500,1,6324);
+ gogo_straight(1,1,-2500,6647,-2700,6647,1000,200,5,0.1,10,0.1,800,-90);
MaxonControl(0,0,0,0);
- pos_correction(-2700,6647,-90,1,0);
+ pos_correction(-2700,6647,-90,1,1);
wait(0.5);
gogo_straight(1,1,-2700,6647,-2500,6647,200,1000,5,0.1,10,0.1,800,-90);
- gogo_straight(1,1,-2500,6647,-1243,6647,1000,1000,5,0.1,10,0.1,800,-90);
- purecurve(8,1,1,-1243,6647,-519,6000,9,1000,5,0.1,10,0.1,600,-180);
- gogo_straight(1,1,-519,6000,-519,4700,1000,1000,5,0.1,10,0.1,600,-180);
- set_cond(2,0,0,1,4000);
- gogo_straight(0,0,-519,4700,-519,4500,1000,200,5,0.1,10,0.1,800,-180);
+ gogo_straight(1,1,-2500,6647,-1000,6647,1000,1000,5,0.1,10,0.1,800,-90);
+ purecurve(8,1,1,-1000,6647,-350,6000,9,1000,5,0.1,10,0.1,600,-180);
+ gogo_straight(1,1,-350,6000,-350,4700,1000,1000,5,0.1,10,0.1,600,-180);
+ set_cond(2,1,1243,1,4000);
+ gogo_straight(1,1,-350,4700,-350,4500,1000,200,5,0.1,10,0.1,800,-180);
MaxonControl(0,0,0,0);
- pos_correction(-519,4500,180,0,0);
+ pos_correction(-400,4500,-180,1,1);
go_waitmode = 1;