Diff: main.cpp

Revision:

15:a2cdcb373d3d

Parent:

14:0629ab54765c

--- a/main.cpp	Thu Sep 08 10:08:17 2016 +0000
+++ b/main.cpp	Fri Sep 09 05:41:41 2016 +0000
@@ -5,6 +5,9 @@
 #include "servo.h"
 #include "button.h"
 
+const int dist=30;
+const int slidedist=150;
+const int space=100;
 
 int main()
 {
@@ -13,8 +16,8 @@
     initmotor();
     
    int targetx[9] = { 600,600,600,1200,900,1200,900,1200,900 };
-   int targety[9] = { team*300,team*600,team*900,team*1200,team*900,team*600,team*600,0,team*300 };
-   int goalx=0,goaly1=1200,goaly2=900,goaly3=600,goaly4=300;
+   int targety[9] = { team*(300+slidedist),team*(600+slidedist),team*(900+slidedist),team*(1200+slidedist),team*(900+slidedist),team*(600+slidedist),team*(600+slidedist),team*(0+slidedist),team*(300+slidedist) };
+   int goalx=0,goaly1=1200+150,goaly2=900+slidedist,goaly3=600+slidedist,goaly4=300+slidedist;
     
 //オブジェクト0,1,2回収
        pmove(targetx[0],0);
@@ -25,7 +28,7 @@
        pmove(targetx[2],targety[2]);
        //回収
        
-       pmove(600,1200);//次につなげるハブ
+       pmove(600,1200+slidedist);//次につなげるハブ
        
        pmove(goalx,goaly1);
        //リリース
@@ -33,9 +36,9 @@
        /****************/
        
        //オブジェクト3,4回収
-       pmove(targetx[3],targety[3]);
+       pmove(targetx[3]+space,targety[3]);
        //回収
-       pmove(1200,900);//ハブ
+       pmove(1200+space,900+slidedist);//ハブ
        pmove(targetx[4],targety[4]);
        //回収?
        pmove(goalx,goaly2);
@@ -43,25 +46,30 @@
        back300();
        /***************/
        
-       //オブジェクト5,6回収
-       pmove(1200,900);//ハブ
+       //オブジェクト5,7回収
+       pmove(1200,900+slidedist);//ハブ
        pmove(targetx[5],targety[5]);
        //回収
-       pmove(targetx[6],targety[6]);
+       pmove(targetx[7],targety[7]);
        //回収?
-       pmove(goalx,goaly3);
+       pmove(600,0+slidedist);
        //リリース
+       pmove(600,1200+slidedist);//ハブ
+       
+       pmove(goalx,goaly1);
        back300();
        /**********************/
        
-       //オブジェクト7,8回収
-       pmove(300,0);//ハブ
-       pmove(targetx[7],targety[7]);
+       //オブジェクト6,8回収
+       pmove(300,0+slidedist);//ハブ
+       pmove(900,0+slidedist);//ハブ
+       pmove(targetx[8],targety[8]);
        //回収
-       pmove(1200,300);//ハブ
-        pmove(targetx[8],targety[8]);
+        pmove(targetx[6],targety[6]);
+        //回収
+        pmove(900,1200+slidedist);
        //回収?
-       pmove(goalx,goaly4);
+       pmove(goalx,goaly1);
        //リリース
        back300();
        /**********************/