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Dependencies: mbed TrapezoidControl QEI Pulse LM61CIZ
Diff: System/Process/Process.cpp
- Revision:
- 24:370616a56815
- Parent:
- 23:c853372cf626
--- a/System/Process/Process.cpp Wed Sep 18 01:58:57 2019 +0000 +++ b/System/Process/Process.cpp Wed Sep 18 02:03:56 2019 +0000 @@ -780,64 +780,7 @@ #if USE_PROCESS_NUM>7 static void Process7() { - if(lineFase == 0) { // 前進 - switch(linePara[0]) { - case -2: adj_F = 10; - break; - case -3: adj_F = 5; - break; - case -1: adj_F = 2; - break; - case 0: adj_F = 0; - break; - case 1: adj_F = -2; - break; - case 3: adj_F = -5; - break; - case 2: adj_F = -10; - break; - case 'A': - break; - case 'N': - break; - default: - } - switch(linePara[2]) { - case -2: adj_F = -10; - break; - case -3: adj_F = -5; - break; - case -1: adj_F = -2; - break; - case 0: adj_F = 0; - break; - case 1: adj_F = 2; - break; - case 3: adj_F = 5; - break; - case 2: adj_F = 10; - break; - case 'A': adj_F = 0; - break; - case 'N': - break; - default: - } - - if(mode == 0) linePWM = 40; - else if (mode == 1) linePWM = 20; - else if (mode == 2) linePWM = 0; - else linePWM = 0; - - motor[TIRE_FL].dir = SetStatus(linePWM - adj_F); - motor[TIRE_BL].dir = SetStatus(linePWM - adj_B); - motor[TIRE_BR].dir = SetStatus(-linePWM - adj_B); - motor[TIRE_FR].dir = SetStatus(-linePWM - adj_F); - motor[TIRE_FR].pwm = SetPWM(linePWM - adj_F); - motor[TIRE_FL].pwm = SetPWM(linePWM - adj_B); - motor[TIRE_BR].pwm = SetPWM(-linePWM - adj_B); - motor[TIRE_BL].pwm = SetPWM(-linePWM - adj_F); - } + } #endif