Yutaka Yoshida
6/22 上下往復完成版
Fork of
BLE_WallbotBLE_Challenge_byYUTAKA3
by 
Maiko Matsumoto
Revision 15:e98de98d9328, committed 2018-06-29
- Comitter:
- Dyotty
- Date:
- Fri Jun 29 04:13:37 2018 +0000
- Parent:
- 14:dd4adc577e36
- Commit message:
- 6/28 ??????
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/main.cpp Fri Jun 22 05:56:32 2018 +0000
+++ b/main.cpp Fri Jun 29 04:13:37 2018 +0000
@@ -466,13 +466,13 @@
// pc.printf("Mode 1 \n");
if(ay > 0.5){
- left = 0.9;
+ left = 0.8;
right = 1.0;
// pc.printf("Lean Right");
}
else if(ay < -0.5){
left = 1.0;
- right = 0.9;
+ right = 0.8;
// pc.printf("Lean Left");
}
else
@@ -487,8 +487,8 @@
if(ay > 4/*ax - mean_ax < -thre_bump || ax - mean_ax > thre_bump*/)
{
stt_Mode = 2;
- pc.printf("Mode 1 -> 2 \n");
- cnt_back = 0;
+// pc.printf("Mode 1 -> 2 \n");
+// cnt_back = 0;
enable_ChangeMode = false;
}
@@ -504,45 +504,44 @@
break;
case 2: // Up Back
- pc.printf("Mode 2 \n");
+// pc.printf("Mode 2 \n");
// if(cnt_back < 120)
// {
left = -1.0;
right = -1.0;
// cnt_back++;
- wait(0.5);
+ wait(0.6);
// }
// else{
// cnt_back = 0;
stt_Mode = 3;
- pc.printf("Mode 2 -> 3 \n");
+// pc.printf("Mode 2 -> 3 \n");
// }
break;
case 3: // Up Rotate
- pc.printf("Mode 3 \n");
+// pc.printf("Mode 3 \n");
if(!(ax < -9.7 && ay < 0/* && ay >= -0.3*/)) // Change Using Gyro??
{
left = 1.0;
- right = 0;
+ right = -1.0;
}
else
{
stt_Mode = 4;
- pc.printf("Mode 3 - > 4 \n");
+// pc.printf("Mode 3 - > 4 \n");
}
- break;
-
+ break;
case 4: // Down Straight
- pc.printf("Mode 4 \n");
+// pc.printf("Mode 4 \n");
if(ay > 0.5){
left = 1.0;
- right = 0.9;
+ right = 0.8;
}
else if(ay < -0.5){
- left = 0.9;
+ left = 0.8;
right = 1.0;
}
else
@@ -557,7 +556,7 @@
if(ay < -4/*ax - mean_ax < -thre_bump_back || ax - mean_ax > thre_bump_back*/)
{
stt_Mode = 5;
- pc.printf("Mode 4 -> 5 \n");
+// pc.printf("Mode 4 -> 5 \n");
enable_ChangeMode = false;
}
@@ -573,26 +572,26 @@
break;
case 5:
- pc.printf("Mode 5 \n");
+// pc.printf("Mode 5 \n");
// if(cnt_back < 200)
// {
left = -1.0;
right = -1.0;
- wait(0.9);
+ wait(1.0);
// cnt_back++;
// }
// else{
// cnt_back = 0;
stt_Mode = 6;
- pc.printf(" 5 -> 6 \n");
+// pc.printf(" 5 -> 6 \n");
// }
break;
case 6: //
- pc.printf("Mode 6 \n");
+// pc.printf("Mode 6 \n");
if(!(ax > 9.7 && ay < 0/* && ay >= 0*/)) // Change Using Gyro??
{
- left = 0;
+ left = -1.0;
right = 1.0;
}
else