Diff: AigamozuControlPackets.cpp

Revision:

46:246051b4f24d

Parent:

45:c57a98331225

Child:

47:4da5b1b048aa

Child:

49:c69fcf98e6b7

--- a/AigamozuControlPackets.cpp	Mon Jun 06 07:23:51 2016 +0000
+++ b/AigamozuControlPackets.cpp	Mon Jun 06 09:52:28 2016 +0000
@@ -235,29 +235,29 @@
          
         if(out_flag == true){
             if(Automove_Timer.read_ms() <= 5000){
-                _agzSheild.changeSpeed(1,16,1,64);//turn left
+                _agzSheild.changeSpeed(1,32,1,124);//turn left
             }else if(Automove_Timer.read_ms() <= 6000){
-                _agzSheild.changeSpeed(0,64,0,64);
+                _agzSheild.changeSpeed(0,124,0,124);
             }else if(Automove_Timer.read_ms() <= 10000){
-                _agzSheild.changeSpeed(1,64,1,64);//straight
+                _agzSheild.changeSpeed(1,124,1,124);//straight
             }else if(Automove_Timer.read_ms() > 10000){
                 Move_Timer.reset();
                 _agzSheild.changeSpeed(0,64,0,64);
                 out_count_flag=false;
                 out_flag=false;
-                printf("reset timer¥n");
+                printf("reset timer\n");
             }
         }else{
         //if robot is inner
            // _agzSheild.changeSpeed(1,64,1,64);//straight
             if(Move_Timer.read_ms() < straight){
-                _agzSheild.changeSpeed(1, 64, 1, 64); //straight
+                _agzSheild.changeSpeed(1, 124, 1, 124); //straight
             }
             else if(Move_Timer.read_ms() < wait){
                 _agzSheild.changeSpeed(0, 64, 0, 64); 
             }
             else if(Move_Timer.read_ms() < turning){
-                _agzSheild.changeSpeed(1, 64, 1, 16); //Turn Right
+                _agzSheild.changeSpeed(1, 124, 1, 32); //Turn Right
             }   
             else if(Move_Timer.read_ms() > turning){
                 _agzSheild.changeSpeed(0, 64, 0, 64); 
@@ -326,7 +326,7 @@
  //   vector2D AP = AigamozuControlPackets::sub_vector(P, A);
     
     double c1 = AB.x * BP.y - AB.y * BP.x;
-    double c2 = BC.x * BP.y - BC.y * BP.x;
+    double c2 = BP.x * BC.y - BP.y * BC.x;
     
     if( ( c1 > 0 && c2 > 0) || ( c1 < 0 && c2 < 0) ) {    
         return true;