ROBOSTEP_5期 / Mbed 2 deprecated George_Master_Param

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Dependencies:   mbed robot

Diff: moves/moves.cpp

Revision:
57:30cd20c654d1
Parent:
53:4673b85e1d2a
Child:
58:dc0faefeba39
--- a/moves/moves.cpp	Mon May 20 11:51:19 2019 +0000
+++ b/moves/moves.cpp	Sat May 25 04:50:48 2019 +0000
@@ -83,6 +83,7 @@
         LEFT,
         RIGHT,
     };
+    int is_turn = 0;
     static int lope_count = 0;
     const int max_count = 3;
     Mode mode;
@@ -93,9 +94,10 @@
     } else {
         mode = STRAIGHT;
     }
-    //カーブしすぎたら強制的に直進
+    //カーブしても治らなければturnに切り替え
     if(lope_count >= max_count) {
-        mode = STRAIGHT;
+//        mode = STRAIGHT;
+        is_turn = 1;
     }
     switch(mode) {
         case STRAIGHT:
@@ -103,11 +105,19 @@
             lope_count=0;
             break;
         case LEFT:
-            curveLeft();
+            if(is_turn == 1) {
+                turnLeft();
+            } else {
+                curveLeft();
+            }
             lope_count++;
             break;
         case RIGHT:
-            curveRight();
+            if(is_turn == 1) {
+                turnRight();
+            } else {
+                curveRight();
+            }
             lope_count++;
             break;
     }