Diff: User.cpp

Revision:

21:0d063cc8b15f

Parent:

20:18da3cef9b39

Child:

22:b2237a179128

--- a/User.cpp	Fri Sep 14 07:04:12 2018 +0000
+++ b/User.cpp	Thu Nov 01 01:56:20 2018 +0000
@@ -79,13 +79,13 @@
         //ボタンの処理
         ButtonState =  ((ps3report*)(data + 1))->ButtonState;
     }
-    
+
 ///////////////////////////RスティックとLスティックの値を入れかえる///////////////////
 
     temp1 = LSX;
     LSX = RSX;
     RSX = temp1;
-    
+
     temp2 = LSY;
     LSY = LSY;
     RSY = temp2;
@@ -150,7 +150,7 @@
             motor(0,GetMotorOut(0),GetMotorOut(1),0,GetMotorOut(2),0);
 
         } else {
-            motor(0,0,GetMotorOut(1),0,0,-GetMotorOut(2));  //1番motorはCW方向、2番motorはCCW方向に回す
+            motor(0,0,GetMotorOut(1),0,0,-GetMotorOut(2)-0.02);  //1番motorはCW方向、2番motorはCCW方向に回す
 
         }
 
@@ -175,7 +175,7 @@
             motor(GetMotorOut(0),0,0,GetMotorOut(1),0,GetMotorOut(2));
 
         } else {
-            motor(0,0,0,GetMotorOut(1),-GetMotorOut(2),0);  //前進と逆の方向に回す
+            motor(0,0,0,GetMotorOut(1),-GetMotorOut(2)-0.02,0);  //前進と逆の方向に回す
 
         }
 
@@ -327,18 +327,30 @@
         } else {
             motor(-GetMotorOut(0),0,0,-GetMotorOut(1),GetMotorOut(2),0);
 
-        }
+        } 
 
+    } else if ((ButtonState >> BUTTONR2)&1 == 1){
+        motor(0.3,0,0.3,0,0.3,0);
+        wait(0.5);
+        
+        motor(0,0.3,0,0.3,0,0.3);
+        wait(0.5);
+        
+    }else if((ButtonState >> BUTTONL2)&1 == 1){
+        motor(0,0,0.3,0,0,0.3);
+        wait(0.5);
+        
+        motor(0,0,0,0.3,0.3,0);
+        wait(0.5); 
     }
 
-
 ////////////////////////////ここからヌクレオのプログラム/////////////////////////////
 
     if((ButtonState >> BUTTONTRIANGEL)&1 == 1) {    //servo1
         wait(0.1);
         if((ButtonState >> BUTTONTRIANGEL)&1 == 1) {
             data1=1;
-            printf("5");
+            //printf("5");
         }
     }
 
@@ -347,25 +359,27 @@
         wait(0.1);
         if((ButtonState >> BUTTONCIRCLE)&1 == 1) {
             data1=2;
-            printf("2");
+            //printf("2");
         }
     }
 
 
-    if((ButtonState >> BUTTONCROSS)&1 == 1) {    //servo3
+    if((ButtonState >> BUTTONCROSS)&1 == 1 ) {    //servo3
         wait(0.1);
-        if((ButtonState >> BUTTONCROSS)&1 == 1) {
+        if((ButtonState >> BUTTONCROSS)&1 == 1  ) {
             data1=3;
-            printf("3");
+            //printf("3\r\n");
         }
     }
 
+        
 
-    if((ButtonState >> BUTTONSQUARE)&1 == 1) {    //servo4
+
+    if((ButtonState >> BUTTONSQUARE)&1 == 1 ) {    //servo4
         wait(0.1);
-        if((ButtonState >> BUTTONSQUARE)&1 == 1) {
+        if((ButtonState >> BUTTONSQUARE)&1 == 1 ) {
             data1=4;
-            printf("4");
+            //printf("4");
         }
     }
 
@@ -374,8 +388,8 @@
         wait(0.1);
         if((ButtonState >> BUTTONLEFT)&1 == 1) {
             data1=5;
-            printf("5");
-            
+            //printf("5");
+
         }
     }