Diff: states.cpp

Revision:

3:2b909340be04

Parent:

2:860eb70d3656

Child:

4:eafd5a0c3351

--- a/states.cpp	Wed Jul 10 08:23:52 2019 +0000
+++ b/states.cpp	Thu Jul 11 09:19:10 2019 +0000
@@ -15,6 +15,7 @@
     anglePID.setBias(0.0);
 
     state = 400;
+    emStop = false;
 } 
 
 
@@ -36,11 +37,11 @@
     }
     stickRad = PI - pad.getRadian(0) + (nowAngle * (PI / 180));
     norm = pad.getNorm(0);
-    if(b[6]) norm = 0.25;
+    if(b[1] && norm) norm = 0.25;
     X = norm * cos(stickRad);
     Y = norm * sin(stickRad);
-    if(b3[9] == 1) state++;
-    if(b3[10] == 1) state--;
+    if(b3[6] == 1) state++;
+    if(b3[0] == 1) state--;
     
     /*
     *move.tellState(方角)でロボの方角
@@ -62,9 +63,10 @@
     if(pad.receiveState() == 0){
         /*omni.stop()は止める*/
         omni.stop();
-        emStop = false;
+        //emStop = false;
     }else{
-        emStop = true;
+        if(b[12]) emStop = true;
+        if(b[11]) emStop = false;
         tellAngle();
         tellPad();
         turnPower = anglePID.compute();