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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
diff -r 05c132be4f82 -r ed227eb82214 main.cpp --- 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;}