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:
12:ed227eb82214
Parent:
11:05c132be4f82
--- a/main.cpp	Sat Oct 30 11:14:05 2021 +0000
+++ b/main.cpp	Sat Nov 13 05:11:01 2021 +0000
@@ -96,7 +96,7 @@
     RBT.addPID(0.0048,0.001,0.00008,3)->setLimit(0.5,-0.5);
     RBT.addPID(0.0048,0.001,0.00008,4)->setLimit(0.5,-0.5);
     RBT.addPID(0.8,0.00,0.0,5)->setLimit(2.0*M_PI/4.0,-2.0*M_PI/4.0);
-    RBT.addPID(0.007,0.00,0.0,0)->setLimit(2.0*M_PI/8.0,-2.0*M_PI/8.0);
+    RBT.addPID(0.007,0.00,0.0,0)->setLimit(2.0*M_PI/16.0,-2.0*M_PI/16.0);
     //RBT.addPID(0.5,0.001,0.2,5)->setLimit(2.0*M_PI/8.0,-2.0*M_PI/8.0);
     /*
     RBT.addPID(0.0048,0.00,0.0000,1)->setLimit(0.5,-0.5);
@@ -205,7 +205,7 @@
         vel.y = v*sin(etheta);
         
         if(n == PARK and Lim_R == 1 and Lim_L == 1) {vel.x = 100.0; vel.y = 0.0; ok = 1;cnt = 0;}
-        else if(n == PARK) {xy_stop = true;rad_stop = true;ok = 0;cnt++;if((double)cnt > 10.0/0.02) {v=300.0;cnt = 0;n++;}}
+        else if(n == PARK) {xy_stop = true;rad_stop = true;ok = 0;cnt++;if((double)cnt > 12.0/0.02) {v=300.0;cnt = 0;n++;}}
         
         if(xy_stop) {vel.x = 0.0;vel.y = 0.0;}
         if(rad_stop) {vel.theta = 0.0;}