Diff: main.cpp

Revision:

14:0629ab54765c

Parent:

12:456d651ef4f0

Child:

15:a2cdcb373d3d

--- a/main.cpp	Thu Sep 08 02:11:22 2016 +0000
+++ b/main.cpp	Thu Sep 08 10:08:17 2016 +0000
@@ -6,15 +6,66 @@
 #include "button.h"
 
 
-
 int main()
 {
+    int team=1;
     setup();
     initmotor();
     
-    while(1){
-        armdegree(12*phaseSW());
-        handdegree(12*phaseSW());
-        beltdegree(12*phaseSW());
-    }
+   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;
+    
+//オブジェクト0,1,2回収
+       pmove(targetx[0],0);
+       pmove(targetx[0],targety[0]);
+       //回収
+       pmove(targetx[1],targety[1]);
+       //回収
+       pmove(targetx[2],targety[2]);
+       //回収
+       
+       pmove(600,1200);//次につなげるハブ
+       
+       pmove(goalx,goaly1);
+       //リリース
+       back300();//(300,1200)なう
+       /****************/
+       
+       //オブジェクト3,4回収
+       pmove(targetx[3],targety[3]);
+       //回収
+       pmove(1200,900);//ハブ
+       pmove(targetx[4],targety[4]);
+       //回収?
+       pmove(goalx,goaly2);
+       //リリース
+       back300();
+       /***************/
+       
+       //オブジェクト5,6回収
+       pmove(1200,900);//ハブ
+       pmove(targetx[5],targety[5]);
+       //回収
+       pmove(targetx[6],targety[6]);
+       //回収?
+       pmove(goalx,goaly3);
+       //リリース
+       back300();
+       /**********************/
+       
+       //オブジェクト7,8回収
+       pmove(300,0);//ハブ
+       pmove(targetx[7],targety[7]);
+       //回収
+       pmove(1200,300);//ハブ
+        pmove(targetx[8],targety[8]);
+       //回収?
+       pmove(goalx,goaly4);
+       //リリース
+       back300();
+       /**********************/
+       
+
+
 }