Diff: main.cpp

Revision:

11:a6fadff7cc78

Parent:

10:a335588b9ef0

Child:

12:9a5de6adae9c

--- a/main.cpp	Wed May 01 11:53:58 2019 +0000
+++ b/main.cpp	Thu May 02 00:51:47 2019 +0000
@@ -300,7 +300,7 @@
     leg_li.setPIDcontroller(&pid_li);
     robot.setLeg(&leg_lo, &leg_li);
     robot.setTickerTime(0.01); //モータ出力間隔 0.01
-    motor_lo.setDutyLimit(0.5);
+    motor_lo.setDutyLimit(0.5);//0.5
     motor_li.setDutyLimit(0.5);
     reset();
     printf("bus standby\n\r");
@@ -318,11 +318,11 @@
     //Sample
     //スタート直進
     printf("dist:%.3f\r\n", get_dist_forward());
-    while(/*get_dist_back() < 300*/1)
+    while(get_dist_back() < 300)
     {
-        //straightAndInfinity(0, 5);
-        wait(0.01);
-        printf("angle: %.3f\r\n", degree0);
+        straightAndInfinity(0, 5);
+        //wait(0.01);
+        //printf("angle: %.3f\r\n", degree0);
     }
     printf("back dist:%.3f\r\n", get_dist_back());
     //段差前旋回
@@ -337,8 +337,11 @@
     //ロープ前旋回
     turn(-90);
     //ロープ
-    while(1) straight(step_num_l, step_num_r);
-    
+    while(1)
+    {
+     straightAndInfinity(0, 5);
+     printf("forward:%.3f back:%.3f\r\n", get_dist_forward(),get_dist_back());
+    }
 }
 void turn(float turn_degree)//turn_degreeを超えるまで旋回し続ける関数
 {
@@ -502,7 +505,6 @@
 }
 double get_dist_forward()
 {
-    //sensor_forward.start();
-    //return sensor_forward.get_dist_cm();
-    return 0.0;
+    sensor_forward.start();
+    return sensor_forward.get_dist_cm();
 }