aigamozu / AigamozuControlPackets_2016

2016_05_19ver Auto mode 10sec forward, 2sec stop, 2sec right turn Please change test_mode's right turn ppm

Dependencies:   VNH5019 AigamozuControlPackets_2016

Dependents:   Aigamozu_Robot_2016_ver1 GPSLOG_program AigamozuControlPackets_2016

Fork of AigamozuControlPackets by aigamozu

Diff: AigamozuControlPackets.cpp

Revision:
42:ebb25729b183
Parent:
41:2ec22c53aa26
Child:
43:e04d9df193dd
--- a/AigamozuControlPackets.cpp	Fri May 27 15:19:55 2016 +0000
+++ b/AigamozuControlPackets.cpp	Mon May 30 11:06:25 2016 +0000
@@ -235,14 +235,14 @@
          
         if(out_flag == true){
             if(Automove_Timer.read_ms() <= 5000){
-                _agzSheild.changeSpeed(1,16,1,64);//turn left
+                _agzSheild.changeSpeed(1,32,1,128);//turn left
             }else if(Automove_Timer.read_ms() <= 6000){
-                _agzSheild.changeSpeed(0,64,0,64);
+                _agzSheild.changeSpeed(0,128,0,128);
             }else if(Automove_Timer.read_ms() <= 10000){
-                _agzSheild.changeSpeed(1,64,1,64);//straight
+                _agzSheild.changeSpeed(1,128,1,128);//straight
             }else if(Automove_Timer.read_ms() > 10000){
                 Move_Timer.reset();
-                _agzSheild.changeSpeed(0,64,0,64);
+                _agzSheild.changeSpeed(0,128,0,128);
                 out_count_flag=false;
                 out_flag=false;
             }
@@ -250,16 +250,16 @@
         //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, 128, 1, 128); //straight
             }
             else if(Move_Timer.read_ms() < wait){
-                _agzSheild.changeSpeed(0, 64, 0, 64); 
+                _agzSheild.changeSpeed(0, 128, 0, 128); 
             }
             else if(Move_Timer.read_ms() < turning){
-                _agzSheild.changeSpeed(1, 64, 1, 16); //Turn Right
+                _agzSheild.changeSpeed(1, 128, 1, 32); //Turn Right
             }   
             else if(Move_Timer.read_ms() > turning){
-                _agzSheild.changeSpeed(0, 64, 0, 64); 
+                _agzSheild.changeSpeed(0, 128, 0, 128); 
                 wait_ms(500);
                 Move_Timer.reset();
             }