Diff: main.cpp

Revision:

29:05b390de92ed

Parent:

28:5e21ce413558

Child:

30:3bcf14e8dd63

--- a/main.cpp	Wed Dec 12 03:36:21 2018 +0000
+++ b/main.cpp	Wed Dec 12 07:48:58 2018 +0000
@@ -110,6 +110,8 @@
 for(i=0;i<20;i++)                 //地磁気測定
 {
     pc.printf("raw=%f\r\n",compass.getHeadingXYDeg()); //度数法で表記
+    fprintf(fp,"raw=\r\n");
+    fprintf(fp,"%lf\r\n",compass.getHeadingXYDeg());
     wait(0.5);
 }
 float mc1,mc2;
@@ -261,7 +263,7 @@
         wait(0.01);
         
         tt++;
-        if(tt==10)
+        if(tt == 10)
         {
             fprintf(fp, "accel.rightrun.leftrun2\r\n");
             
@@ -288,7 +290,7 @@
 
             motor1.speed(msj1);       //機体を時計回りに９０度回転
             motorReverse();
-            wait(0.77);
+            wait(0.57);
             printf("mortor rotation\r\n");
             
             motor1.stop(0);
@@ -308,7 +310,7 @@
 
             motor1.speed(-msj1);      //機体を反時計回りに９０度回転
             motorForward();
-            wait(0.77);
+            wait(0.57);
             printf("mortor rotation\r\n");
             
             motor1.stop(0);
@@ -397,7 +399,7 @@
 
             motor1.speed(-msj1);      //機体を反時計回りに９０度回転
             motorForward();
-            wait(1);
+            wait(0.57);
             printf("mortor rotation\r\n");
             
             motor1.stop(0);
@@ -417,7 +419,7 @@
 
             motor1.speed(msj1);       //機体を時計回りに９０度回転
             motorReverse();
-            wait(1);   
+            wait(0.57);   
             printf("mortor rotation\r\n");
             
             motor1.stop(0);