Diff: main.cpp

Revision:

1:f6b396987546

Parent:

0:7a6b6c687fa3

Child:

2:fef6e8a45d71

--- a/main.cpp	Mon Dec 17 05:54:30 2018 +0000
+++ b/main.cpp	Mon Dec 17 12:03:51 2018 +0000
@@ -35,7 +35,7 @@
     flipper.attach(&flip3,0.05);//0.１秒ごとに回転数cを更新
     
     while(1) {
-        
+        /*
         if(  led_count1 + led_count2 > 43*2*12){ //200mm毎にLEDを点滅
         LED = 1.0f;
         wait(0.5f);
@@ -43,6 +43,7 @@
         led_count1 = 0;
         led_count2 = 0;
         }
+        */
 //////////////////floatのinをintのjudgeに変換
         if(in1 > thr1){
             judge1 = 1;
@@ -70,13 +71,13 @@
             switch(n){
               case(2)://白黒白ゆっくり進む
               g = 500.0f;
-              dif1 = g - c2;
-              dif2 = g - c1;
+              dif1 = g - c1;
+              dif2 = g - c2;
               gain1 = 0.0006f;
               gain2 = 0.0006f;
-              pwm11.write(0.45f + dif1*gain1);
+              pwm11.write(0.50f + dif1*gain1);
               pwm12.write(0.30f);
-              pwm21.write(0.45f + dif2*gain2);
+              pwm21.write(0.50f + dif2*gain2);
               pwm22.write(0.30f);
               break;
               
@@ -125,8 +126,8 @@
               g = 500.0f;
               dif1 = g - c1;
               dif2 = g - c2;         
-              gain1 = 0.0002f;
-              gain2 = 0.0002f;
+              gain1 = 0.0004f;
+              gain2 = 0.0004f;
                   
               pwm11.write(0.00f);
               pwm12.write(0.00f);
@@ -150,12 +151,12 @@
               case(7)://黒黒黒ゆっくり
               dif1 = g - c1;
               dif2 = g - c2;
-              gain1 = 0.0004f;
-              gain2 = 0.0004f;
+              gain1 = 0.0002f;
+              gain2 = 0.0002f;
               
-              pwm11.write(0.45f + dif1*gain1);
+              pwm11.write(0.50f + dif1*gain1);
               pwm12.write(0.30f);
-              pwm21.write(0.45f + dif2*gain2);
+              pwm21.write(0.50f + dif2*gain2);
               pwm22.write(0.30f);
               break;