Diff: main.cpp

Revision:

36:c2b4071970de

Parent:

35:40df2f91cea9

Child:

37:24866a13b959

diff -r 40df2f91cea9 -r c2b4071970de main.cpp
--- 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());