ROBOSTEP_5期 / Mbed 2 deprecated George_Master_Param

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   mbed robot

Diff: moves/moves.cpp

Revision:
31:ed4249a288d7
Parent:
30:231e6584afe9
Child:
32:aee87dcaf7ca
--- a/moves/moves.cpp	Wed May 08 09:16:30 2019 +0000
+++ b/moves/moves.cpp	Wed May 08 11:00:09 2019 +0000
@@ -20,7 +20,7 @@
     STOP,
     FORWARD,
 };
-int step_num_l;
+int step_num_l, step_num_r;
 void WaitAnotherLeg();
 
 //収束していなければLED1をON. param:: d_step_l:左足を動かす歩数。負なら後ろに進む
@@ -35,6 +35,18 @@
     robot.run();
     led1 = 0;
     step_num_l = target_step;
+    switch(mode)
+    {
+        case FORWARD:
+            step_num_r++;
+            break;
+        case STOP:
+            break;
+        case BACK:
+            step_num_r--;
+            break;    
+    }
+    
     motor_lo_f.write(0);
     motor_lo_b.write(0);
     motor_li_f.write(0);
@@ -100,6 +112,17 @@
 {
     Run(STOP, 1);
 }
+void phasing(float target_degree)
+{
+    if(step_num_l%2 != step_num_r%2)
+    {
+        if(target_degree - degree0 > 0) {
+            curveLeft();
+        } else {
+            curveRight();
+        }
+    }
+}
 void SetupMoves()
 {
     motor_lo_f.period_us(100);