mech / Mbed 2 deprecated Line_Trace_Pro_NEW11

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Dependencies:   mbed

Diff: main.cpp

Revision:
3:55588b59ab29
Parent:
2:fef6e8a45d71
Child:
4:282471928d78
--- a/main.cpp	Thu Dec 20 02:56:43 2018 +0000
+++ b/main.cpp	Thu Dec 20 03:19:50 2018 +0000
@@ -85,8 +85,8 @@
               g = 500.0f;
               dif1 = g - c1;
               dif2 = g - c2;
-              gain1 = 0.0015f;
-              gain2 = 0.0015f;
+              gain1 = 0.0012f;
+              gain2 = 0.0012f;
               
               pwm11.write(0.10f);
               pwm12.write(0.30f +dif1*gain1);
@@ -100,37 +100,37 @@
               g = 500.0f;
               dif1 = g - c1;
               dif2 = g - c2;
-              gain1 = 0.0002f;
-              gain2 = 0.0002f;
+              gain1 = 0.0007f;
+              gain2 = 0.0007f;
               
-              pwm11.write(0.30f + dif1*gain1);
-              pwm12.write(0.30f);
-              pwm21.write(0.80f + dif2*gain2);
-              pwm22.write(0.30f);
+              pwm11.write(0.20f + dif1*gain1);
+              pwm12.write(0.20f);
+              pwm21.write(0.70f + dif2*gain2);
+              pwm22.write(0.20f);
               break;
             
               case(4)://白白黒右回転かなり強
               g = 500.0f;
               dif1 = g - c1;
               dif2 = g - c2;
-              gain1 = 0.0002f;
-              gain2 = 0.0002f;
+              gain1 = 0.0007f;
+              gain2 = 0.0007f;
               
-              pwm11.write(0.80f + dif1*gain1);
-              pwm12.write(0.30f);
-              pwm21.write(0.30f);
-              pwm22.write(0.30f + dif2*gain2);
+              pwm11.write(0.70f + dif1*gain1);
+              pwm12.write(0.20f);
+              pwm21.write(0.20f);
+              pwm22.write(0.20f + dif2*gain2);
               break;
               
               case(3)://黒黒白左回転強
               g = 500.0f;
               dif1 = g - c1;
               dif2 = g - c2;         
-              gain1 = 0.0004f;
-              gain2 = 0.0004f;
+              gain1 = 0.0007f;
+              gain2 = 0.0007f;
                   
-              pwm11.write(0.00f);
-              pwm12.write(0.00f);
+              pwm11.write(0.20f);
+              pwm12.write(0.20f);
               pwm21.write(0.70f + dif2*gain2);
               pwm22.write(0.20f);
               break;
@@ -139,13 +139,13 @@
               g = 500.0f;
               dif1 = g - c1;
               dif2 = g - c2; 
-              gain1 = 0.0002f;
-              gain2 = 0.0002f;
+              gain1 = 0.0007f;
+              gain2 = 0.0007f;
               
               pwm11.write(0.70f + dif1*gain1);
               pwm12.write(0.20f);
-              pwm21.write(0.00f);
-              pwm22.write(0.00f);
+              pwm21.write(0.20f);
+              pwm22.write(0.20f);
               break;
               
               case(7)://黒黒黒ゆっくり
@@ -162,9 +162,9 @@
                
               default://それ以外(多分ないけど)
               pwm11.write(0.10f);
-              pwm12.write(0.70f);
+              pwm12.write(0.50f);
               pwm21.write(0.10f);
-              pwm22.write(0.70f);
+              pwm22.write(0.50f);
               break;
               
         }