ROBOSTEP_5期 / Mbed 2 deprecated George_Master_Param

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Dependencies:   mbed robot

Diff: moves/moves.cpp

Revision:
53:4673b85e1d2a
Parent:
36:e1398ff45b12
Child:
57:30cd20c654d1
--- a/moves/moves.cpp	Mon May 20 04:26:15 2019 +0000
+++ b/moves/moves.cpp	Mon May 20 10:27:02 2019 +0000
@@ -76,6 +76,42 @@
     else if(degree0 - target_degree > tolerance_degree) curveRight();
     else straight();
 }
+void lopeAndInfinity(float target_degree, float tolerance_degree)
+{
+    enum Mode {
+        STRAIGHT,
+        LEFT,
+        RIGHT,
+    };
+    static int lope_count = 0;
+    const int max_count = 3;
+    Mode mode;
+    if(target_degree - degree0 > tolerance_degree) {
+        mode = LEFT;
+    } else if(degree0 - target_degree > tolerance_degree) {
+        mode = RIGHT;
+    } else {
+        mode = STRAIGHT;
+    }
+    //カーブしすぎたら強制的に直進
+    if(lope_count >= max_count) {
+        mode = STRAIGHT;
+    }
+    switch(mode) {
+        case STRAIGHT:
+            straight();
+            lope_count=0;
+            break;
+        case LEFT:
+            curveLeft();
+            lope_count++;
+            break;
+        case RIGHT:
+            curveRight();
+            lope_count++;
+            break;
+    }
+}
 void climbAndInfinity(float target_degree, float tolerance_degree)
 {
     if(target_degree - degree0 > tolerance_degree) {//左に曲がる