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:
12:dbff655e398e
Parent:
11:adb0e189fe90
Child:
14:b2569bdcd716
--- a/main.cpp	Tue Sep 19 05:27:08 2017 +0000
+++ b/main.cpp	Wed Sep 27 06:52:21 2017 +0000
@@ -20,8 +20,8 @@
     master = new I2C(SDA, SCL);
     beta = new AlphaTransporter(master);
 
-    Omni.Drive(0, 0, 0);
-    float x, y, t;
+    Omni.Drive(0, 0, 0, 0);
+    float a, x, y, t;
     while(1)
     {
         beta->set();
@@ -30,11 +30,8 @@
         y = beta->read(1) / 128.00 * -1.00;
         t = beta->read(2) / 128.00 * -1.00;
         
-        if(x == 0.00 && y == 0.00){
-            Omni.Drive(x, y, 1.50 * t);
-        }else{
-            Omni.Drive(x, y, t / 4.00);
-        }
+        Omni.Drive(a, x, y, t);
+            
         wait(0.01);
     }
 }