aigamozu / AigamozuControlPackets_展示会

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Dependencies:   VNH5019

Dependents:   Aigamozu_Robot_展示会 Aigamozu_Robot_March Aigamozu_Robot_templete

Fork of AigamozuControlPackets by aigamozu

Diff: AigamozuControlPackets.cpp

Revision:
42:04ca5242eaf2
Parent:
41:fbf8f617a6ab
Child:
43:e011cf13dbb2
Child:
44:da580a931f28
diff -r fbf8f617a6ab -r 04ca5242eaf2 AigamozuControlPackets.cpp
--- a/AigamozuControlPackets.cpp	Mon Oct 24 08:14:05 2016 +0000
+++ b/AigamozuControlPackets.cpp	Mon Oct 24 09:12:37 2016 +0000
@@ -1,9 +1,9 @@
 #include "AigamozuControlPackets.h"
 #include "VNH5019.h"
 
-#define RIGHT_SPEED 16
-#define LEFT_SPEED 54
-#define FORWARD_SPEED 64
+#define RIGHT_SPEED 0
+#define LEFT_SPEED 32
+#define FORWARD_SPEED 32
 
 //////////////////////////////
 //          Init            //
@@ -53,11 +53,23 @@
     
    if(nowMode == AUTO_GPS_MODE){
 
-        if(Move_Timer.read_ms() < 6000){
-            _agzSheild.changeSpeed(1,LEFT_SPEED,1,RIGHT_SPEED);//straight
-        }else if(Move_Timer.read_ms() >= 6000){
-            _agzSheild.changeSpeed(0,LEFT_SPEED,0,RIGHT_SPEED);
-            Move_Timer.reset();
+        if(Move_Timer.read_ms() < 4000){
+            _agzSheild.changeSpeed(1,LEFT_SPEED,1,RIGHT_SPEED);//turn
+        }else if(Move_Timer.read_ms() >= 4000 && Move_Timer.read_ms() < 5000){
+            _agzSheild.changeSpeed(0,0,0,0);//stop
+        }else if(Move_Timer.read_ms() >= 5000 && Move_Timer.read_ms() < 6000){
+            _agzSheild.changeSpeed(1,FORWARD_SPEED,1,FORWARD_SPEED);//forward
+        }else if(Move_Timer.read_ms() >= 6000 && Move_Timer.read_ms() < 7000){
+            _agzSheild.changeSpeed(0,0,0,0);//stop
+        }else if(Move_Timer.read_ms() >= 7000 && Move_Timer.read_ms() < 12000){
+            _agzSheild.changeSpeed(1,RIGHT_SPEED,1,LEFT_SPEED);//turn
+        }else if(Move_Timer.read_ms() >=12000 && Move_Timer.read_ms() < 13000){
+            _agzSheild.changeSpeed(0,0,0,0);//stop
+        }else if(Move_Timer.read_ms() >= 13000 && Move_Timer.read_ms() < 14000){
+            _agzSheild.changeSpeed(1,FORWARD_SPEED,1,FORWARD_SPEED);//forward
+        }else if(Move_Timer.read_ms() >= 14000 && Move_Timer.read_ms() < 15000){
+            _agzSheild.changeSpeed(0,0,0,0);//stop
+             Move_Timer.reset();
         }
     }