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:
43:e011cf13dbb2
Parent:
42:04ca5242eaf2
Child:
45:2f47c25a3562
diff -r 04ca5242eaf2 -r e011cf13dbb2 AigamozuControlPackets.cpp
--- a/AigamozuControlPackets.cpp	Mon Oct 24 09:12:37 2016 +0000
+++ b/AigamozuControlPackets.cpp	Sun Oct 30 04:45:11 2016 +0000
@@ -1,8 +1,8 @@
 #include "AigamozuControlPackets.h"
 #include "VNH5019.h"
 
-#define RIGHT_SPEED 0
-#define LEFT_SPEED 32
+#define RIGHT_SPEED 32
+#define LEFT_SPEED 16
 #define FORWARD_SPEED 32
 
 //////////////////////////////
@@ -52,7 +52,13 @@
     */
     
    if(nowMode == AUTO_GPS_MODE){
-
+       if(Move_Timer.read_ms() < 5000){
+            _agzSheild.changeSpeed(1,LEFT_SPEED,1,RIGHT_SPEED);//turn
+        }else if(Move_Timer.read_ms() >= 5000 && Move_Timer.read_ms() < 6000){
+            _agzSheild.changeSpeed(0,0,0,0);//stop
+            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){
@@ -71,6 +77,7 @@
             _agzSheild.changeSpeed(0,0,0,0);//stop
              Move_Timer.reset();
         }
+        */
     }   
 
  return 1;