(多分)全部+フライトピン+新しい加速度
Dependencies: mbed
Diff: main.cpp
- Revision:
- 36:c2b4071970de
- Parent:
- 35:40df2f91cea9
- Child:
- 37:24866a13b959
--- a/main.cpp Fri Dec 14 14:57:28 2018 +0000 +++ b/main.cpp Sat Dec 15 06:06:01 2018 +0000 @@ -62,7 +62,7 @@ FET = 0; SW = 1; //p23をhigh(3.3V)にする。 - while(1) { + /* while(1) { if(flight==1) { wait(10); } @@ -86,7 +86,7 @@ } } } - + */ motor1.stop(0); motor2.stop(0); @@ -138,16 +138,16 @@ motorReverse(); wait(1.6); - motor1.stop(0); - motor2.stop(0); + motorStop(); + motorStop2(); wait(1); motorReverse2(); //車体を反時計回りに3秒回 motorForward(); wait(1.6); - motor1.stop(0); - motor2.stop(0); + motorStop(); + motorStop2(); wait(1); printf("compass carriblation\r\n"); //キャリブレーション終了 @@ -161,22 +161,22 @@ motorForward2();//右回転 motorReverse(); wait((270-heading)*0.004448); //角度のずれ*1度回転するのにかかる時間 - motor1.stop(0); - motor2.stop(0); + motorStop(); + motorStop2(); wait(1); }else if(0<=heading<=90.0){ motorReverse2();//左回転 motorForward(); wait((heading+90.0)*0.004448); - motor1.stop(0); - motor2.stop(0); + motorStop(); + motorStop2(); wait(1); }else if(272.5<heading<360){ motorReverse2();//左回転 motorForward(); wait((heading-270)*0.004448); - motor1.stop(0); - motor2.stop(0); + motorStop(); + motorStop2(); wait(1); }else{ wait(5); @@ -238,7 +238,7 @@ printf("\t%f\r\n", rightrun); run=culculate_distance_3(rightrun,leftrun2); if (5000<run && run<5050){ //半分くらい進んだら方位を計測し直す - motor1.stop(0); + motor1.stop(0); motor2.stop(0); wait(1); if(90<heading<267.5){ @@ -339,7 +339,7 @@ int t=0; - for(t=0;t<50;t++) + for(t=0;t<100;t++) { printf("%d\r\n", test.read()); printf("%d\r\n", test2.read());