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:
51:67f01969f709
Parent:
50:61d72f617aa5
Child:
52:d4d739f01b38
diff -r 61d72f617aa5 -r 67f01969f709 AigamozuControlPackets.cpp
--- a/AigamozuControlPackets.cpp	Thu Mar 30 10:47:49 2017 +0000
+++ b/AigamozuControlPackets.cpp	Fri Mar 31 06:26:28 2017 +0000
@@ -1,7 +1,6 @@
 #include "AigamozuControlPackets.h"
 #include "VNH5019.h"
 
-
 #define LOW_SPEED 16
 #define HIGH_SPEED 64
 #define FORWARD_SPEED 64
@@ -61,25 +60,18 @@
     _agzSheild.changeSpeed(2,128,2,128):for moving robot
     VNH5019参照
     */
-    
-   if(nowMode == AUTO_GPS_MODE){
+        
+    if(nowMode == AUTO_GPS_MODE){
 
         if(moveTimer.read_ms() <= 400){
             _agzSheild.changeSpeed(1,HIGH_SPEED,0,LOW_SPEED);//時計回り
-        }else if(moveTimer.read_ms() > 400 && moveTimer.read_ms() <= 800){
-            _agzSheild.changeSpeed(0,LOW_SPEED,1,HIGH_SPEED); //反時計回り
-        }else if(moveTimer.read_ms() > 800){
-            _agzSheild.changeSpeed(1,HIGH_SPEED,0,LOW_SPEED);//時計回り
-            moveTimer.reset();
+        }else if(moveTimer.read_ms() > 400 && moveTimer.read_ms() <= 500){
+            _agzSheild.changeSpeed(0,LOW_SPEED,0,LOW_SPEED); //反時計回り
         }
     }   
 
- return 1;
+    return 1;
 }
- 
-
-
-
 
 //////////////////////////////
 //     Mode change          //
@@ -118,6 +110,3 @@
         }
     return false;
 }
-
-
-