Diff: main.cpp

Revision:

21:90bb12a879c2

Parent:

20:81a956eaf4ae

Child:

22:37a07f844778

--- a/main.cpp	Thu Mar 22 08:09:42 2018 +0000
+++ b/main.cpp	Thu Mar 29 02:23:22 2018 +0000
@@ -40,7 +40,7 @@
 int RED_MIN=0;
 int RED_MIN2=0;
 int32_t act=101;
-int ball_judgement=0;
+int ball_judgement=1;
 int r_c=0;
 int r_c2=0;
 int finding=0;
@@ -194,6 +194,8 @@
  
 int main(int argc, char **argv)
 {
+    snap=1;
+    snap2=1;
     out=1;
     
     nh.initNode();
@@ -223,7 +225,7 @@
     cmd[1] = 0x09;
     val = i2c.write(84, cmd, 2);
     val2 = i2c_2.write(84, cmd, 2);
- 
+    
     while(1) {
         val = i2c.write(84, cell, 1);
         val2 = i2c_2.write(84, cell, 1);
@@ -341,7 +343,7 @@
     ///射出///
         if((act==2)&&(count==0)) {
             int f_i=0;
-            throw_cock(0.257); //TZ1
+            throw_cock(0.247); //TZ1
  
             ready_action=0;
             count=1;
@@ -356,7 +358,7 @@
  
          if(((act==4)||(act==6))&&(count==0)) {
              int f_i=0;
-            throw_cock(0.258); //TZ2
+            throw_cock(0.257); //TZ2
  
             ready_action=0;
             count=1;
@@ -371,7 +373,7 @@
         
          if(((act==7)||(act==8)||(act==9))&&(count==0))  {
             int f_i=0;
-            throw_cock(0.228); //TZ3
+            throw_cock(0.227); //TZ3
  
             ready_action=0;
             count=1;