Diff: robot.cpp

Revision:

7:dcc0faa86da7

Parent:

5:f5e79163d0eb

Child:

8:713bbc1fb58f

--- a/robot.cpp	Sat Feb 01 03:02:18 2020 +0000
+++ b/robot.cpp	Sun Feb 02 04:28:14 2020 +0000
@@ -45,19 +45,19 @@
         theta = sensor.ballAngle * ballExtra * PI / 180.0;
         spin_power = spin.compute();
         if (sensor.ballKeep) {
-            drib.setspeed(0.5);
+//            drib.setspeed(0.5);
             if(dip1)
             {
-                shot.outPut();
-                if(!sensor.bluex) omni.computeCircular(1,0, spin_power);
-                else omni.computeCircular(sensor.blueRange,PI / 180.0 * sensor.blueAngle, spin_power);
+//                shot.outPut();
+                /*if(!sensor.bluex)*/ omni.computeCircular(1,0,0/* spin_power*/);
+//                else omni.computeCircular(sensor.blueRange,PI / 180.0 * sensor.blueAngle, spin_power);
         
             }
             else
             {
-                shot.outPut();
-                if(!sensor.yellowx) omni.computeCircular(1,0, spin_power);
-                else omni.computeCircular(sensor.yellowRange,PI / 180.0 * sensor.yellowAngle, spin_power);
+//                shot.outPut();
+                /*if(!sensor.yellowx)*/ omni.computeCircular(1,0,0/* spin_power*/);
+//                else omni.computeCircular(sensor.yellowRange,PI / 180.0 * sensor.yellowAngle, spin_power);
             }
         } 
         else
@@ -94,6 +94,8 @@
             motor[2]->setSpeed(-omni2wheel);
             motor[3]->setSpeed(omni.wheel[3]);
 //            motor[3]->setSpeed(-omni3wheel);
+            shot.outPut();
+
         } else {
             motor[0]->setSpeed(0);
             motor[1]->setSpeed(0);