(多分)全部+フライトピン+新しい加速度
Dependencies: mbed
Diff: main.cpp
- Revision:
- 24:a09b08663a7c
- Parent:
- 22:1e01f4f7097c
- Child:
- 25:6680d67bdf24
diff -r 1e01f4f7097c -r a09b08663a7c main.cpp --- a/main.cpp Thu Dec 06 10:23:58 2018 +0000 +++ b/main.cpp Fri Dec 07 12:45:05 2018 +0000 @@ -86,7 +86,7 @@ } fprintf(fp,"GPS finish\r\n"); // fclose(fp); // GPSの測定終了 - + @@ -128,14 +128,21 @@ if(92.5<heading<=270.0){ motor1.speed(mcn1); motor2.speed(-mcn2); - wait(heading*0.01); //角度のずれ*1度回転するのにかかる時間 + wait((heading-90.0)*0.004722); //角度のずれ*1度回転するのにかかる時間 motor1.stop(0); motor2.stop(0); wait(1); -}else if(270.0<heading<PI2 && 0<=heading<87.5){ +}else if(270.0<heading<PI2){ motor1.speed(-mcn1); motor2.speed(mcn2); - wait((PI2-heading)*0.01); + wait((PI2-heading+90.0)*0.004722); + motor1.stop(0); + motor2.stop(0); + wait(1); +}else if(0<=heading<87.5){ + motor1.speed(-mcn1); + motor2.speed(mcn2); + wait((90.0-heading)*0.004722); motor1.stop(0); motor2.stop(0); wait(1);