nakashima Kohei / Mbed 2 deprecated SHIPBOT_LATEST

2021年地区大会船ロボット「明石工船」 import時ライブラリの更新をしないでください

Dependencies:   mbed arrc_mbed BNO055 take_mbed_old SDFileSystem ros_lib_melodic_buffer_increase

Diff: main.cpp

Revision:
2:4e7ec0816a91
Parent:
1:aa9cc4250220
Child:
4:0038da6cdc9a
--- a/main.cpp	Thu Oct 21 16:16:24 2021 +0000
+++ b/main.cpp	Fri Oct 22 07:45:16 2021 +0000
@@ -120,7 +120,7 @@
         NextP.theta -= M_PI/2.0;
         getVelocity(&v,n-1);
         if(n < POINTS)getPoint(&subP,n+1);
-        if(v > 0.0) v *= 1.5;
+        if(v > 0.0) v *= 2.0;
         if(v >= 1400) v = 1400;
         //v = 20.0;
         if(n == POINTS) v = 20.0;
@@ -129,7 +129,7 @@
     if(n == POINTS and incircle(pos,NextP,1.0)) v = 0.0;
     double etheta = atan2(NextP.y-pos.y,NextP.x-pos.x);
     RBT.PIDs[5]->Update(pos.theta,NextP.theta,0.02,false);
-    RBT.sendVelocity(v*cos(etheta),v*sin(etheta),RBT.PIDs[5]->getmv());
+    //RBT.sendVelocity(v*cos(etheta),v*sin(etheta),RBT.PIDs[5]->getmv());
     //printf("%lf,%lf\n",pos.theta,NextP.theta);
     //RBT.sendVelocity(200.0,-200.0,0.0);
     printf("x:%lf,y:%lf,theta:%lf,n:%d\n",pos.x,pos.y,pos.theta,n);