ROBOSTEP_5期 / Mbed 2 deprecated George_Master_Param

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Dependencies:   mbed robot

Diff: main.cpp

Revision:
31:ed4249a288d7
Parent:
30:231e6584afe9
Child:
32:aee87dcaf7ca
--- a/main.cpp	Wed May 08 09:16:30 2019 +0000
+++ b/main.cpp	Wed May 08 11:00:09 2019 +0000
@@ -80,6 +80,7 @@
             while(get_dist_forward() < 60) {
                 straightAndInfinity(45, 5);
             }
+            phasing(45.0);
             for(int i= 0; i<14; ++i) straight();
             while(get_dist_back() > 80) straight();
             //段差後旋回
@@ -110,6 +111,7 @@
                     straightAndInfinity(0.0, 5.0);
                 }
             }
+            phasing(0.0);
             //ロープ
             while(mode4.read() == 0) {
                 straightAndInfinity(0, 5);
@@ -127,14 +129,14 @@
             theta0 = -degree/100.0+90;
             motor_lo.setDutyLimit(0.3);//0.3
             motor_li.setDutyLimit(0.3);
-            for(int i=0; i<15; ++i)straightAndInfinity(-90, 5);//straight();//climbAndInfinity(-90,5);
+            for(int i=0; i<20; ++i)straightAndInfinity(-90, 5);//straight();//climbAndInfinity(-90,5);
             printf("wall standby");
             while(get_dist_back() < 250) {
 //                straight();
                 climbAndInfinity(-90,5);
             }
             for(int i=0; i<1; ++i) {
-                while(get_dist_forward() > 70) {
+                while(get_dist_forward() > 60) {
                     //straight();
                     climbAndInfinity(-90,5);
                 }