Diff: main.cpp

Revision:

12:2f0c841e6078

Parent:

11:80284e989390

Child:

13:b884f5960fbf

Child:

14:d2f0aef62909

--- a/main.cpp	Mon Nov 05 12:50:18 2018 +0000
+++ b/main.cpp	Thu Nov 08 09:51:48 2018 +0000
@@ -51,7 +51,7 @@
     motor1.stop(0);
     motor2.stop(0);
     
-   printf("GPS start\r\n");
+ /*  printf("GPS start\r\n");
    FILE *fp = fopen("/local/gps.txt", "w");  // Open "gps.txt" on the local file system for writing
     fprintf(fp, "GPS Start\r\n");
     int n;
@@ -70,7 +70,7 @@
 
     }    
     fprintf(fp,"GPS finish\r\n");
-    fclose(fp);                      //GPSの測定終了 
+    fclose(fp);                      //GPSの測定終了 */
     
   
     
@@ -195,8 +195,8 @@
             ms1=1.0;            //直進の時モーターをどれだけ回せばいいかわからないのでとりあえず1.0にしておく⇒waitの秒数を変えた方が良い感じ
             ms2=1.0;
     
-            msj1=0.234;           //回転の時
-            msj2=0.234;
+            msj1=1.0;           //回転の時
+            msj2=1.0;
 
             motor1.stop(0);
             motor2.stop(0);
@@ -205,7 +205,7 @@
 
             motor1.speed(msj1);       //機体を時計回りに９０度回転
             motor2.speed(-msj2);
-            wait(2);
+            wait(0.77);
             printf("mortor rotation\r\n");
             
             motor1.stop(0);
@@ -225,7 +225,7 @@
 
             motor1.speed(-msj1);      //機体を反時計回りに９０度回転
             motor2.speed(msj2);
-            wait(2);
+            wait(0.77);
             printf("mortor rotation\r\n");
             
             motor1.stop(0);
@@ -235,8 +235,11 @@
 
             motor1.speed(ms1);       //直進
             motor2.speed(ms2);
-            
-           /* printf("%d\r\n", test.read());                   ここの部分は単純に５mを足すことにした方がいいかな？
+        int t=0;
+    for(t=0;t<10;t++)
+    {
+            printf("%d\r\n", test.read());
+            printf("%d\r\n", test2.read());                   
             if (test.read() == 1 and flag == 0)
             { 
                 flag = 1;
@@ -254,8 +257,8 @@
             leftrun2 += 52.5;
         }
         printf("%f", rightrun);
-        printf("\t%f\r\n", leftrun2);*/
-            wait(2);
+        printf("\t%f\r\n", leftrun2);
+    }        
             printf("mortor straight\r\n");   
             
             motor1.stop(0);
@@ -265,7 +268,7 @@
 
             motor1.speed(-msj1);      //機体を反時計回りに９０度回転
             motor2.speed(msj2);
-            wait(2);
+            wait(0.77);
             printf("mortor rotation\r\n");
             
             motor1.stop(0);
@@ -285,7 +288,7 @@
 
             motor1.speed(msj1);       //機体を時計回りに９０度回転
             motor2.speed(-msj2);
-            wait(2);   
+            wait(0.77);   
             printf("mortor rotation\r\n");
             
             motor1.stop(0);
@@ -296,7 +299,6 @@
             
         }
    }
-   
             motor1.stop(0);
             motor2.stop(0);