Diff: main.cpp

Revision:

33:2dbbe198adaf

Parent:

32:aee87dcaf7ca

Child:

34:0a8ae7f92262

--- a/main.cpp	Mon May 13 03:44:50 2019 +0000
+++ b/main.cpp	Mon May 13 09:02:19 2019 +0000
@@ -8,7 +8,7 @@
 void SetMode();
 void Start();
 void NoHandSignal();
-int RightOrLeft = 0;
+
 int start_state=0;
 
 int main()
@@ -59,10 +59,10 @@
         else if(start_state == 3) theta0 = -degree/100.0 - 90;
         else printf("state_error");
     }
-    //FileOpen();
+    FileOpen();
     printf("LR:%d StateFlow:%d\r\n", RightOrLeft,start_state);
     StateFlow(start_state);
-    //FileClose();
+    FileClose();
 }
 
 void StateFlow(int i)
@@ -89,10 +89,7 @@
             else turn(-35.0);
         case 1://段差前
             printf("climb!!!!!!!!!!\r\n");
-            //段差乗り越え
-            motor_lo.setDutyLimit(0.3);//0.5
-            motor_li.setDutyLimit(0.3);
-        
+            //段差乗り越え        
             while(get_dist_forward() < 60) {
                 if(RightOrLeft == 0) straightAndInfinity(45, 5);
                 else straightAndInfinity(-45, 5);
@@ -100,7 +97,8 @@
             if(RightOrLeft == 0) phasing(45.0);
             else phasing(-45.0);
             
-            
+            motor_lo.setDutyLimit(0.3);//0.5
+            motor_li.setDutyLimit(0.3);
             
             for(int i= 0; i<14; ++i) straight();
             while(get_dist_back() > 80) straight();
@@ -157,6 +155,8 @@
                 else straightAndInfinity(90, 15);
             }
             printf("wall standby");
+            motor_lo.setDutyLimit(0.3);//0.3
+            motor_li.setDutyLimit(0.3);
             while(get_dist_back() < 250) {
 //                straight();
                 if(RightOrLeft == 0) climbAndInfinity(-90,15);