Robotics Term Project
/
Robottics_Motion
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Dependencies: mbed
Diff: AI_Friday.cpp
- Revision:
- 27:1696ef46b538
- Parent:
- 26:dbdbfdb4dd41
- Child:
- 28:d576b1190610
--- a/AI_Friday.cpp Thu May 26 10:28:19 2016 +0000
+++ b/AI_Friday.cpp Thu May 26 10:35:46 2016 +0000
@@ -80,6 +80,7 @@
float wideB; // wide of the court
int yB1,yB2,xB3,xB4; // broder conditions
+int ticCheck = 10;
int main() {
@@ -235,30 +236,43 @@
funcBorder();
break;
case 2: // 前進 再判別 v1+ v2-
- if((borAngle-angleC)> 5 || (borAngle-angleC)<-5) //誤差容忍正負五度
- {
- v1_ref = 100;
- v2_ref = -100;
- }
- bor_state = 1;
- break;
- case 3: // 後退 再判別 v1- v2+
- if((borAngle-angleC)> 5 || (borAngle-angleC)<-5)//誤差容忍正負五度
+ if(ticCheck >0) //誤差容忍正負五度
{
v1_ref = 100;
v2_ref = -100;
+ ticCheck -- ;
}
- bor_state = 1;
+ else
+ {
+ bor_state = 1;
+ ticCheck = 10;
+ }
+ break;
+ case 3: // 後退 再判別 v1- v2+
+
+ if(ticCheck >0) //誤差容忍正負五度
+ {
+ v1_ref = -100;
+ v2_ref = +100;
+ ticCheck -- ;
+ }
+ else
+ {
+ bor_state = 1;
+ ticCheck = 10;
+ }
break;
case 4: // 順時轉到特定角 結束 v1-- v2 --
- if((borAngle-angleC)> 5 || (borAngle-angleC)<-5)//誤差容忍正負五度
- {
+
v1_ref = -100;
v2_ref = -100;
+
+ else
+ {
+ borAngle = 0;
+ aI_State = 2;
+ bor_state = 1;
}
- borAngle = 0;
- aI_State = 2;
- bor_state = 1;
break;
case 5: // 逆時轉到特定角 結束 v1 ++ v2++
if((borAngle-angleC)> 5 || (borAngle-angleC)<-5)//誤差容忍正負五度
@@ -266,9 +280,12 @@
v1_ref = 100;
v2_ref = 100;
}
- borAngle = 0;
- aI_State = 2;
- bor_state = 1;
+ else
+ {
+ borAngle = 0;
+ aI_State = 2;
+ bor_state = 1;
+ }
break;
}