Takushima Yukimasa / Mbed 2 deprecated R19_ManuTakukAHWGeo

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Dependencies:   mbed

Files at this revision

API Documentation at this revision

Revision 20:3f68738c4019, committed 2019-10-11

Comitter:
Tom0108
Date:
Fri Oct 11 07:29:15 2019 +0000
Parent:
19:340fc4370258
Commit message:
Gyro reset measures

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file
main.h Show annotated file Show diff for this revision Revisions of this file 
--- a/main.cpp	Wed Oct 09 09:00:01 2019 +0000
+++ b/main.cpp	Fri Oct 11 07:29:15 2019 +0000
@@ -95,12 +95,14 @@
         rawyaw[1]=rawyaw[0];
         rawyaw[0]=bno.euler.yaw;
 
-        //180～-180をまたいだ時
-        if(rawyaw[1]<90 && rawyaw[0]>270) rawyaw[1]+=360;
-        else if(rawyaw[1]>270 && rawyaw[0]<90) rawyaw[1]-=360;
+        if(rawyaw[0]!=0) {
+            //180～-180をまたいだ時
+            if(rawyaw[1]<90 && rawyaw[0]>270) rawyaw[1]+=360;
+            else if(rawyaw[1]>270 && rawyaw[0]<90) rawyaw[1]-=360;
 
-        yaw-=rawyaw[0]-rawyaw[1];
-        yaw=fmod(yaw, 360.0);
+            yaw-=rawyaw[0]-rawyaw[1];
+            yaw=fmod(yaw, 360.0);
+        }
 
         //ゾーン対応
         if(zone==0) PALETTE(RED);
@@ -547,18 +549,18 @@
         /* --------------電磁弁系-------------------- */
 
         /*タオルを引っ張るやつ*/
-        if(sbdbt.R2)i2c.Out_Set(Out_Data,4,1);
-        else i2c.Out_Set(Out_Data,4,0);
+        if(sbdbt.R2)i2c.Out_Set(Out_Data,3,1);
+        else i2c.Out_Set(Out_Data,3,0);
 
         //タオル展開
-        if(unfold_f) i2c.Out_Set(Out_Data,3,1);
-        else i2c.Out_Set(Out_Data,3,0);
+        if(unfold_f) i2c.Out_Set(Out_Data,5,1);
+        else i2c.Out_Set(Out_Data,5,0);
 
         //エアー解放
         if(release_f) {
             PALETTE(YELLOW);
-            i2c.Out_Set(Out_Data,5,1);
-        } else i2c.Out_Set(Out_Data,5,0);
+            i2c.Out_Set(Out_Data,4,1);
+        } else i2c.Out_Set(Out_Data,4,0);
 
         if(!rod_hit) PALETTE(CYAN);
 
@@ -652,9 +654,9 @@
 //        pc.printf("yaw:%.1f %.1f",yaw, bno.euler.yaw);
 //            pc.printf("%d %d",keep_tim[0].read_ms(),keep_f[0]);
 //        pc.printf("LX:%d, LY:%d, RX:%d, RY:%d",sbdbt.LX, sbdbt.LY, sbdbt.RX, sbdbt.RY);
-        for(int i=0; i<9; i++)
-            pc.printf("%d ",(In_Data+i)->in_data);
-        pc.printf("\n\r");
+//        for(int i=0; i<9; i++)
+//            pc.printf("%d ",(In_Data+i)->in_data);
+//        pc.printf("\n\r");
     }     // while(1)
 }       // int main()
 

--- a/main.h	Wed Oct 09 09:00:01 2019 +0000
+++ b/main.h	Fri Oct 11 07:29:15 2019 +0000
@@ -82,9 +82,9 @@
     {0,0,0},        // 腕の上下
     {0,1,0},        // 爪
     {0,2,0},        // タオルの先
-    {0,3,0},        // タオル展開
     {1,0,0},        // タオルの中央
     {1,1,0},        // 全体
+    {1,2,0},        // タオル展開
     {41,0,0},        // g
     {41,1,0},        // r
     {41,2,0},        // b;