(多分)全部+フライトピン+新しい加速度
Dependencies: mbed
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);