ROBOSTEP_5期 / Mbed 2 deprecated George_Master_BOTHMOVE

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Dependencies:   mbed robot

Diff: sensors/sensors.cpp

Revision:
37:e1398ff45b12
Parent:
35:04699b49c463
--- a/sensors/sensors.cpp	Wed May 15 06:48:23 2019 +0000
+++ b/sensors/sensors.cpp	Wed May 15 09:08:31 2019 +0000
@@ -162,18 +162,23 @@
     else led4=0;
 }
 
-float Hcsr04BackWithEc(){
+float Hcsr04BackWithEc()
+{
+
     hcsr04_val[1] = GetFilteredDist_cm(sensor_back,lowpassfilter[1]);
     FileWrite();
-    int is_ok = checkUW(hcsr04_val[1], degree0*kDeg2Rad, ec_li.getCount());//ECは内側を一応選んだ
-    if(is_ok != 1)
-    {
-        hcsr04_val[1] = GetFilteredDist_cm(sensor_back,lowpassfilter[1]);
+    int is_ok = checkUW(hcsr04_val[1], degree0*kDeg2Rad, ec_li.getCount());//ECは内側を選んだ.適当
+    if(is_ok != 1) {
+        //もう一度とる
+        sensor_back.start();
+        wait_ms(50);
+        hcsr04_val[1] = sensor_back.get_dist_cm();
         FileWrite();
     }
     return hcsr04_val[1];
 }
-int checkUW(double uwdist,double theta,int eccount){    //uwdist[cm],theta[rad],eccount[]
+int checkUW(double uwdist,double theta,int eccount)     //uwdist[cm],theta[rad],eccount[]
+{
     const double oneloopdist=0.22f;//[m]
     const double ecsliprate=0.7f;
     const double errrange=0.5;//収束判定[m]