ROBOSTEP_5期 / Mbed 2 deprecated George_Master_BOTHMOVE

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Dependencies:   mbed robot

Diff: sensors/sensors.cpp

Revision:
25:c740e6fd5dab
Parent:
22:0ed9de464f40
Child:
26:5fb1aa9cb7f0
--- a/sensors/sensors.cpp	Fri May 03 10:00:20 2019 +0000
+++ b/sensors/sensors.cpp	Mon May 06 04:03:00 2019 +0000
@@ -1,7 +1,7 @@
 #include "sensors.h"
 #include "microinfinity.h"
 #include "pinnames.h"
-const float kOldWeight = 0.5;
+const float kOldWeight = 0;
 const float kOldWeightLight = 0.3; //filterの重み.軽いver
 
 const float kOutVal = 500; //<0.1が返ってきたときに返す値
@@ -44,16 +44,18 @@
 }
 float GetFilteredDist_cm(HCSR04 & sensor, LowPassFilter & filter)
 {
-    wait_ms(60);
+    wait_ms(30);//60
     sensor.start();
     wait_ms(30);
     float raw_data = sensor.get_dist_cm();
     if(raw_data < 20)//0.1以下なら前回の値を返す
         return kOutVal;
-    filter.SetData(raw_data);
+/*    filter.SetData(raw_data);
     float dist = filter.GetData();
 //    printf("raw %.3f, filter %.3f\r\n", raw_data,dist);
     return dist;
+    */
+    return raw_data;
 }
 
 float get_dist_forward()