robostep8th / Mbed 2 deprecated harurobo_ashi_com7

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Dependencies:   mbed move4wheel2 EC CruizCore_R1370P

Diff: movement/movement.cpp

Revision:
4:317c53a674fa
Parent:
3:8a0faa3b08c3
Child:
6:26724c287387
diff -r 8a0faa3b08c3 -r 317c53a674fa movement/movement.cpp
--- a/movement/movement.cpp	Fri Mar 01 00:48:07 2019 +0000
+++ b/movement/movement.cpp	Fri Mar 01 08:00:53 2019 +0000
@@ -61,8 +61,8 @@
     
     gyro.initialize();
     ec_ticker.attach(&calOmega,0.05);  //0.05秒間隔で角速度を計算
-    EC1.setDiameter_mm(48);
-    EC2.setDiameter_mm(48);  //測定輪半径//後で測定
+    EC1.setDiameter_mm(25.5);
+    EC2.setDiameter_mm(25.5);  //測定輪半径//後で測定
     info.nowX.enc = -2962; //初期位置の設定
     info.nowY.enc = 3500;
 }
@@ -447,7 +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,200,100,5,0.1,10,0.1,500,tgt_angle);
+        gogo_straight(u,v,now_x,now_y,tgt_x,tgt_y,200,50,5,0.1,10,0.1,500,tgt_angle);
         MaxonControl(0,0,0,0);
     
         calc_xy(tgt_angle, u, v);