master
Dependencies: arrc_mbed
Diff: main.cpp
- Revision:
- 1:9f57d402ea10
- Parent:
- 0:55f25431e6d1
- Child:
- 2:2feb9be14c08
diff -r 55f25431e6d1 -r 9f57d402ea10 main.cpp --- a/main.cpp Tue Apr 12 10:32:57 2022 +0000 +++ b/main.cpp Tue Apr 12 10:42:14 2022 +0000 @@ -33,6 +33,13 @@ bool limit_switch = true; int step=0; int auto_mode=0; +int side_change=0; + + + + + + int direct_xx=0; int direct_yy=0; @@ -77,7 +84,7 @@ } bool pro2(){ //アングルとスピードを同時に決める 下から3桁で角度を決める(0~360) それ以外でスピードを決める これなに?私もわからん - double anglert=-135.000000000; + double anglert=-135.000000000+180.0*side_change; Led4.write(1); for(int i=0;i<4;i++){ target[i]=(direct_yy*sin(M_PI/180.0*(90*i - gyro.yaw - anglert))-direct_xx*cos(M_PI/180.0*(90*i - gyro.yaw - anglert))+direct_turn)*30.0; @@ -201,7 +208,7 @@ slave.addCMD(32,abc12); slave.addCMD(33,abc13); slave.addCMD(34,abc14); - int side_change=0; + side_change=0; goal_x=goal_x_right; goal_y=goal_y_right;