広田 勇斗 / Mbed 2 deprecated 2017_Bteam_beta_master_ashi

2017_Bteam_beta_master_ashi

Dependencies:   Alpha_Movements BoolProcess DataCaller_beta MD_PID mbed

Fork of 2017_Bteam_beta_master by taiyou komazawa

Diff: main.cpp

Revision:
10:68987291c3b4
Parent:
9:6b06d46ef5c2
Child:
11:adb0e189fe90
--- a/main.cpp	Mon Sep 18 05:52:41 2017 +0000
+++ b/main.cpp	Tue Sep 19 01:59:51 2017 +0000
@@ -29,7 +29,12 @@
         x = beta->read(0) / 128.00 * -1.00;
         y = beta->read(1) / 128.00 * -1.00;
         t = beta->read(2) / 128.00 * -1.00;
-        Omni.Drive(x, y, t);
-        wait(0.1);
+        
+        if(x == 0.00 && y == 0.00){
+            Omni.Drive(0.00, 0.00, 2.00 * t);
+        }else{
+            Omni.Drive(x, y, t / 4.00);
+        }
+        wait(0.01);
     }
 }