Diff: main.cpp

Revision:

28:5e21ce413558

Parent:

27:b4922048ab11

Child:

29:05b390de92ed

--- a/main.cpp	Tue Dec 11 10:23:35 2018 +0000
+++ b/main.cpp	Wed Dec 12 03:36:21 2018 +0000
@@ -99,6 +99,10 @@
     }    
     fprintf(fp,"GPS finish\r\n");    
  //   fclose(fp);                     // GPSの測定終了 
+ 
+          motorSpeed.period_ms(2);              //モーター調節
+          motorSpeed = 0.9;
+
      
 compass.init();                  //地磁気センサー動作
       
@@ -113,15 +117,15 @@
     mc2=1.0;
     //地磁気センサのキャリブレーション
     motor1.speed(mc1); //車体を時計回りに３秒回転
-    motor2.speed(-mc2);
+    motorReverse();
     wait(3);
     
     motor1.stop(0);
     motor2.stop(0);
     wait(1);
     
-    motor1.speed(-mc1); //車体を反時計回りに３秒回転
-    motor2.speed(mc2);
+    motor1.speed(-mc1); //車体を反時計回りに３秒回
+    motorForward();
     wait(3);
     
     motor1.stop(0);
@@ -137,14 +141,14 @@
 heading=compass.getHeadingXYDeg();
 if(2.5<heading<=M_PI){
     motor1.speed(mcn1);
-    motor2.speed(-mcn2);
+    motorReverse();
     wait(heading*0.01); //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(M_PI<heading<357.5){
     motor1.speed(-mcn1);
-    motor2.speed(mcn2);
+    motorForward();
     wait((PI2-heading)*0.01);
     motor1.stop(0);
     motor2.stop(0);
@@ -177,9 +181,6 @@
         
         int tt=0;
         float run=0;
-        
-         motorSpeed.period_ms(2);              //モーター調節
-         motorSpeed = 0.9;
 
         while(1)
     {       
@@ -286,7 +287,7 @@
             printf("mortor stop\r\n");
 
             motor1.speed(msj1);       //機体を時計回りに９０度回転
-            motorForward();
+            motorReverse();
             wait(0.77);
             printf("mortor rotation\r\n");
             
@@ -415,7 +416,7 @@
             printf("mortor stop\r\n");
 
             motor1.speed(msj1);       //機体を時計回りに９０度回転
-            motorForward();
+            motorReverse();
             wait(1);   
             printf("mortor rotation\r\n");