Diff: main.cpp

Revision:

2:2feb9be14c08

Parent:

1:9f57d402ea10

Child:

3:a35f7cab9de2

--- a/main.cpp	Tue Apr 12 10:42:14 2022 +0000
+++ b/main.cpp	Wed Apr 13 09:22:18 2022 +0000
@@ -5,6 +5,9 @@
 #include"gy521.hpp"
 #include "neopixel.h"
 
+bool the_left=false;
+
+
 double goal_x = -17700.0;
 double goal_y = 28800.0;
 
@@ -22,7 +25,7 @@
 #define goal_y2_left -8000000
 
 #define period_r 8000.0
-NeoPixelOut npx(PB_4,7);
+NeoPixelOut npx(PB_5,30);
 I2C i2d(PB_3,PB_10);
 GY521 gyro(i2d);
 ScrpSlave slave(PC_12,PD_2 ,PH_1 ,SERIAL_TX,SERIAL_RX,0x0807f800);//srcslave設定
@@ -35,7 +38,7 @@
 int auto_mode=0;
 int side_change=0;
 
-
+int ty=0;
 
 
 
@@ -151,6 +154,7 @@
 }
 bool  abc1(int a,int &b){
     check_tepu+=1;
+    ty=0;
     return add(0,a);
 }
 bool  abc2(int a,int &b){
@@ -182,6 +186,7 @@
 }
 bool  abc13(int a,int &b){
     check_tepu+=1;
+    ty=1;
     return direct_tu(0,a);
 }
 bool  abc14(int a,int &b){
@@ -215,7 +220,7 @@
     goal_x2=goal_x2_right;
     goal_y2=goal_y2_right;
     
-    if(limitB){
+    if(the_left==true){
             side_change=1;
             goal_x=goal_x_left;
             goal_y=goal_y_left;
@@ -277,6 +282,7 @@
             motor_p[i]=0;
             motor_m[i]=0;
         }
+        
         pro3(-test_ang(goal_angle1-gyro.yaw),test_limit(goal_x-x_period),test_limit(goal_y-y_period));
         }else if(step==60&&((sqrt((goal_y-y_period)*(goal_y-y_period)+(goal_x-x_period)*(goal_x-x_period))-sqrt(period_r*period_r)>1000)||  (sqrt((goal_y-y_period)*(goal_y-y_period)+(goal_x-x_period)*(goal_x-x_period))-sqrt(period_r*period_r)<-1000))){
             
@@ -323,16 +329,16 @@
         //slave.send1(255,17,y_period*1);
         while(name.read_ms()<100){}
         //slave.send1(255,18,gyro.yaw*1);
-        for(i = 0; i < 2; i++){
+        for(i = 0; i < 10; i++){
             npx.global_scale = 0.05f;
             npx.normalize = false;
-            if(check_tepu>0){
+            if(ty==0){
                 npx.setPixelColor(i,0xFF0000);
             }else {
                 npx.setPixelColor(i,0x0000FF);
             }
         }
-        for(i = 2; i < 4; i++){
+        for(i = 10; i < 20; i++){
         npx.global_scale = 0.05f;
         npx.normalize = false;
             if(auto_swich){
@@ -341,7 +347,7 @@
                 npx.setPixelColor(i,0x00FF00);
             }
         }
-        for(i = 4; i < 6; i++){
+        for(i = 20; i < 30; i++){
         npx.global_scale = 0.05f;
         npx.normalize = false;
             if(side_change==0){
@@ -377,6 +383,11 @@
             npx.normalize = false;
             npx.setPixelColor(i,0x00FFFF);
         }
+        for(i=4;i<30;i++){
+            npx.global_scale = 0.05f;
+            npx.normalize = false;
+            npx.setPixelColor(i,0x00FFFF);
+        }
         npx.show();
     }
 }
\ No newline at end of file