hirromu takaki / states

手動bのほぼ全部

Dependents:   kobayashi_rei 2019BSyudo Bsyudo 2019Bsyudo

Diff: states.cpp

Revision:
2:860eb70d3656
Parent:
1:38dd7564c15f
Child:
3:2b909340be04
--- a/states.cpp	Wed Jul 10 07:38:28 2019 +0000
+++ b/states.cpp	Wed Jul 10 08:23:52 2019 +0000
@@ -36,10 +36,11 @@
     }
     stickRad = PI - pad.getRadian(0) + (nowAngle * (PI / 180));
     norm = pad.getNorm(0);
+    if(b[6]) norm = 0.25;
     X = norm * cos(stickRad);
     Y = norm * sin(stickRad);
-    if(b3[0] == 1) state++;
-    if(b3[1] == 1) state--;
+    if(b3[9] == 1) state++;
+    if(b3[10] == 1) state--;
     
     /*
     *move.tellState(方角)でロボの方角
@@ -66,7 +67,6 @@
         emStop = true;
         tellAngle();
         tellPad();
-//        tellState();
         turnPower = anglePID.compute();
         omni.move(X, Y, -turnPower);
     }