ROBOSTEP_5期 / Mbed 2 deprecated George_Master_Param

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Dependencies:   mbed robot

Diff: main.cpp

Revision:
52:dc3d83eb31eb
Parent:
51:8b66c953d73a
Child:
53:4673b85e1d2a
--- a/main.cpp	Mon May 20 03:37:02 2019 +0000
+++ b/main.cpp	Mon May 20 04:26:15 2019 +0000
@@ -6,7 +6,7 @@
 #include <stdlib.h>
 
 
-#define BADRULEMODE
+//#define BADRULEMODE
 
 void StateFlow(int i);
 void SetMode();
@@ -60,10 +60,10 @@
     if(RightOrLeft == 0) {
         if(start_state == 0) theta0 = -degree/100.0;
         else if(start_state == 1) {
-            theta0 = -degree/100.0 + 90;
+            theta0 = -degree/100.0 - 90;
             motor_lo.setDutyLimit(0.6);//0.5
             motor_li.setDutyLimit(0.6);
-            turn(35.0);
+            turn(55.0);
         } else if(start_state == 2) {
             theta0 = -degree/100.0 - 135;
             motor_lo.setDutyLimit(0.6);//0.5
@@ -74,11 +74,11 @@
     } else {
         if(start_state == 0) theta0 = -degree/100.0;
         else if(start_state == 1) {
-            theta0 = -degree/100.0 - 45;
+            theta0 = -degree/100.0 + 90;
             //段差前旋回
             motor_lo.setDutyLimit(0.6);//0.5
             motor_li.setDutyLimit(0.6);
-            turn(-35.0);
+            turn(-55.0);
         } else if(start_state == 2) {
             theta0 = -degree/100.0 + 135;
             motor_lo.setDutyLimit(0.6);//0.5
@@ -105,7 +105,7 @@
             while(checkUW(params[1].condition, degree0, ec_lo.getCount()) == 0){
                 straightAndInfinity(params[0].argument[0], params[0].argument[1]);
             }
-            printf("get distance mode");
+            printf("get distance mode\r\n");
             
             motor_lo.setDutyLimit(params[1].duty);
             motor_li.setDutyLimit(params[1].duty);
@@ -140,6 +140,7 @@
             
             motor_lo.setDutyLimit(params[6].duty);
             motor_li.setDutyLimit(params[6].duty);
+            printf("start finding back block\r\n"); 
             while(get_dist_back() > params[6].condition) straight();
             
             //段差後旋回