ROBOSTEP_5期 / Mbed 2 deprecated George_Master_Param

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Dependencies:   mbed robot

Diff: main.cpp

Revision:
58:dc0faefeba39
Parent:
55:1b1e5839dde1
--- a/main.cpp	Sat May 25 04:50:48 2019 +0000
+++ b/main.cpp	Mon May 27 04:50:42 2019 +0000
@@ -6,7 +6,7 @@
 #include <stdlib.h>
 
 
-#define BADRULEMODE
+//#define BADRULEMODE
 
 void StateFlow(int i);
 void SetMode();
@@ -147,9 +147,13 @@
             motor_li.setDutyLimit(params[4].duty);
             if(RightOrLeft == 0) phasing(params[4].argument[0]);
             else phasing(-params[4].argument[0]);
+            
             motor_lo.setDutyLimit(params[5].duty);
             motor_li.setDutyLimit(params[5].duty);
-            for(int i= 0; i<(int)params[5].condition; ++i) straight();
+            for(int i= 0; i<(int)params[5].condition; ++i){
+                 straight();
+                 wait(0.05);//速度落とし用
+            }
             
             motor_lo.setDutyLimit(params[6].duty);
             motor_li.setDutyLimit(params[6].duty);
@@ -241,6 +245,7 @@
             }
             hand_mode = GOAL;
             stop();
+            ResetRun();
             printf("uhai!!!!!!!!!!!!!!!/r/n");
     }
 }