Revision 8:8ff6db217a17, committed 2019-10-04

Comitter:

THtakahiro702286

Date:

Fri Oct 04 08:15:43 2019 +0000

Parent:

6:3cb78320d4db

Commit message:

states;

Changed in this revision

--- a/states.cpp	Fri Sep 13 03:01:12 2019 +0000
+++ b/states.cpp	Fri Oct 04 08:15:43 2019 +0000
@@ -35,12 +35,8 @@
     for(int i=0; i<4; i++) stick[i] = pad.getStick(i);
     stick[0] -= 128;
     stick[1] = 128-stick[1];
-    stick[2] -= 128;
-    stick[3] = 128-stick[3];
     norm[0] = hypotf(stick[0],stick[1]);
-    norm[1] = hypotf(stick[2],stick[3]);
-    if(norm[0] > 20) norm[0] = 0;
-    if(norm[1] > 20) norm[1] = 0;
+    if(norm[0] < 50) norm[0] = 0;
     for(int i=0; i<2; i++) trigger[i] = pad.getTrigger(i);
     mechanism.setBrake(trigger[0]);
 
@@ -75,8 +71,8 @@
             emStop = false;
         }else{
             turnPower = anglePID.compute();
-            if(norm[0] && norm[0] < 100) mechanism.move(0,0,-turnPower);
-            else mechanism.move(stick[0], stick[1], -turnPower);
+            //if(norm[0] < 70) mechanism.move(0,0,-turnPower,nowAngle, 0);
+            /*else*/ mechanism.move(stick[0], stick[1], -turnPower, nowAngle, norm[0]);
            /*昇降機構*/    
             if(b[0]) {mechanism.up();}
             else if(b[1]) {mechanism.down();}

--- a/states.h	Fri Sep 13 03:01:12 2019 +0000
+++ b/states.h	Fri Oct 04 08:15:43 2019 +0000
@@ -7,7 +7,6 @@
 #include "PS3.h"
 #include "R1370.h"
 #include "mechanism.h"
-//#include <math.h>
 
 #define front 0
 #define right 90
@@ -28,7 +27,6 @@
     DigitalOut emStop;
     
     /*モーター系*/
-//    WheelUnit omni;
     Serial serial;
 
     /*角度制御*/
@@ -49,7 +47,5 @@
     
     int b[12],b2[12],b3[12];
     float norm[2];
-    //sint check;
-    
 };
 #endif