手動bのほぼ全部
Dependents: kobayashi_rei 2019BSyudo Bsyudo 2019Bsyudo
Diff: states.cpp
- Revision:
- 3:2b909340be04
- Parent:
- 2:860eb70d3656
- Child:
- 4:eafd5a0c3351
diff -r 860eb70d3656 -r 2b909340be04 states.cpp --- 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();