Diff: movement/movement.cpp

Revision:

3:8a0faa3b08c3

Parent:

1:3c11e07da92a

Child:

4:317c53a674fa

--- a/movement/movement.cpp	Tue Feb 26 05:10:27 2019 +0000
+++ b/movement/movement.cpp	Fri Mar 01 00:48:07 2019 +0000
@@ -13,8 +13,8 @@
 
 char ashi_data[4]={0};
 
-Ec EC1(p8,p26,NC,500,0.05);
-Ec EC2(p21,p22,NC,500,0.05);
+Ec EC2(p26,p8,NC,500,0.05);
+Ec EC1(p22,p21,NC,500,0.05);
 Ticker ec_ticker;  //ec角速度計算用ticker
 
 R1370P gyro(p28,p27);
@@ -235,12 +235,9 @@
     
    calc_xy_enc();
    
-   if(u != 1){
+   if(u != 1 || v != 1){
       calc_xy_usw(target_angle);  //エンコーダの値しか使用しない場合は超音波センサーによる座標計算は行わずに計算量を減らす。
    }
-   if(v != 1){
-      calc_xy_usw(target_angle);
-    }
     
     now_x = u * info.nowX.enc + (1-u) * info.nowX.usw;
     now_y = v * info.nowY.enc + (1-v) * info.nowY.usw;
@@ -450,7 +447,7 @@
     calc_xy(tgt_angle, u, v);
  
     while(1){  //機体の位置を目標領域（目標座標＋許容誤差）に収める
-        gogo_straight(u,v,now_x,now_y,tgt_x,tgt_y,100,0,5,0.1,10,0.1,500,tgt_angle);
+        gogo_straight(u,v,now_x,now_y,tgt_x,tgt_y,200,100,5,0.1,10,0.1,500,tgt_angle);
         MaxonControl(0,0,0,0);
     
         calc_xy(tgt_angle, u, v);
@@ -475,7 +472,7 @@
             MaxonControl(out,out,out,out);
         }
  
-        if(tgt_angle - 2 < now_angle && now_angle < tgt_angle + 2) break;  //目標角度からの許容誤差内に機体の角度が収まった時、補正終了
+        if(tgt_angle - 0.5 < now_angle && now_angle < tgt_angle + 0.5) break;  //目標角度からの許容誤差内に機体の角度が収まった時、補正終了
         
     }
     MaxonControl(0,0,0,0);