nakashima Kohei
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
Revision 12:ed227eb82214, committed 2021-11-13
- Comitter:
- hamohamo
- Date:
- Sat Nov 13 05:11:01 2021 +0000
- Parent:
- 11:05c132be4f82
- Commit message:
- sad
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
| take_mbed.lib | Show annotated file Show diff for this revision Revisions of this file |
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;}
diff -r 05c132be4f82 -r ed227eb82214 take_mbed.lib --- a/take_mbed.lib Sat Oct 30 11:14:05 2021 +0000 +++ b/take_mbed.lib Sat Nov 13 05:11:01 2021 +0000 @@ -1,1 +1,1 @@ -https://os.mbed.com/users/hamohamo/code/take_mbed_old/#689b83d0baa5 +https://os.mbed.com/users/hamohamo/code/take_mbed_old/#eb4ec08882b1