Diff: main.cpp

Revision:

37:ae343f310692

Parent:

35:04699b49c463

--- a/main.cpp	Wed May 15 06:48:23 2019 +0000
+++ b/main.cpp	Wed May 15 09:19:51 2019 +0000
@@ -70,14 +70,15 @@
     switch(i) {
         case 0://最初の直線
             printf("go straight!!!!!!!!!!\r\n");
-            motor_lo.setDutyLimit(0.7);
-            motor_li.setDutyLimit(0.7);
+            motor_lo.setDutyLimit(0.6);
+            motor_li.setDutyLimit(0.6);
             for(int i = 0; i < 30; i++) {
                 straightAndInfinity(0, 7);
             }
             printf("get distance mode");
             for(int i=0; i<1; ++i) {
-                while(Hcsr04BackWithEc() < 320) {//300
+//                while(Hcsr04BackWithEc() < 320) {//300
+                while(get_dist_back() < 320) {//300
                     straightAndInfinity(0, 7);
                 }
             }
@@ -88,17 +89,20 @@
             if(RightOrLeft == 0) turn(35.0);
             else turn(-35.0);
         case 1://段差前
+            //段差前旋回
+            motor_lo.setDutyLimit(0.5);//0.5
+            motor_li.setDutyLimit(0.5);
             printf("climb!!!!!!!!!!\r\n");
             //段差乗り越え        
-            while(get_dist_forward() < 60) {
+            while(get_dist_forward() < 65) {
                 if(RightOrLeft == 0) straightAndInfinity(45, 5);
                 else straightAndInfinity(-45, 5);
             }
             if(RightOrLeft == 0) phasing(45.0);
             else phasing(-45.0);
             
-            motor_lo.setDutyLimit(0.3);//0.5
-            motor_li.setDutyLimit(0.3);
+            motor_lo.setDutyLimit(0.2);//0.5
+            motor_li.setDutyLimit(0.2);
             
             for(int i= 0; i<14; ++i) straight();
             while(get_dist_back() > 80) straight();
@@ -112,8 +116,13 @@
         case 2://段差直後
             printf("go lope!!!!!!!!!!\r\n");
             //前進
-            motor_lo.setDutyLimit(0.7);
-            motor_li.setDutyLimit(0.7);
+            motor_lo.setDutyLimit(0.6);
+            motor_li.setDutyLimit(0.6);
+            for(int i=0; i<12; ++i) 
+            {
+                if(RightOrLeft == 0) straightAndInfinity(90.0, 7.0);
+                else straightAndInfinity(-90.0, 7.0);
+            }
             for(int i=0; i<3; ++i) {
                 while(get_dist_forward() > 60) {
                     if(RightOrLeft == 0) straightAndInfinity(90.0, 7.0);
@@ -125,11 +134,11 @@
             turn(0);
             //ロープ位置ジャストまで前進
             for(int i=0; i<3; ++i) {
-                straightAndInfinity(0.0, 7.0);
+                straightAndInfinity(0, 7.0);
             }
             for(int i=0; i<2; ++i) {
                 while(get_dist_back() < 100) {
-                    straightAndInfinity(0.0, 7.0);
+                    straightAndInfinity(0, 7.0);
                 }
             }
             phasing(0.0);
@@ -170,6 +179,11 @@
             hand_mode = GOAL;
             stop();
             printf("uhai!!!!!!!!!!!!!!!/r/n");
+            for(int i=0;i<10;++i)
+            {
+                led1 = i%2;
+                wait(0.01);    
+            }
     }
 }
 void Start()