三浦 颯太 / Mbed 2 deprecated AutoMaster2019_B_2

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Dependencies:   mbed TrapezoidControl QEI Pulse LM61CIZ

Files at this revision

API Documentation at this revision

Revision 24:370616a56815, committed 2019-09-18

Comitter:
M_souta
Date:
Wed Sep 18 02:03:56 2019 +0000
Parent:
23:c853372cf626
Commit message:
ii

Changed in this revision

System/Process/Process.cpp Show annotated file Show diff for this revision Revisions of this file 
--- 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