Diff: main.cpp

Revision:

3:bc6c111b88da

Parent:

2:bbd10b5da0bf

Child:

4:b81dc4282175

--- a/main.cpp	Mon Oct 22 08:35:25 2018 +0000
+++ b/main.cpp	Fri Oct 26 16:54:54 2018 +0000
@@ -17,24 +17,24 @@
 BusOut Mrighti(PTC0, PTC7);
 PwmOut Mrightp(PTA12);
 
-float white = 0.5, black = 0.08, gray = 0.15;   //値をぶち込む
+float white = 0.6, black = 0.08, gray = 0.3;   //値をぶち込む
 float whiteR = 0.02, blackR = 0.008, grayR = 0.015; //弱いセンサ用
 float sensor[4];    //sensor[0]:sensorL ... sensor[3]:sensorR
 
 void turn_right(){
     Mlefti = 2;
-    Mleftp = 0.5f;
+    Mleftp = 0.7f;
     Mrighti = 1;
-    Mrightp = 0.5f;
+    Mrightp = 0.7f;
     ledR = 1;
     ledL = 0;
 }
 
 void turn_left(){ 
     Mrighti = 2;
-    Mrightp = 0.5f;
+    Mrightp = 1.0f;
     Mlefti = 1;
-    Mleftp = 0.3f;    
+    Mleftp = 0.5f;    
     ledR = 0;
     ledL = 1;
 }
@@ -42,9 +42,9 @@
 void go_straight(){
     //まっすぐ行こう
     Mrighti = 2;
-    Mrightp = 0.8f;
+    Mrightp = 1.0f;
     Mlefti = 2;
-    Mleftp = 0.8f;
+    Mleftp = 0.7f;
     ledR = 0;
     ledL = 0;
 }
@@ -68,11 +68,11 @@
         
         if( sensor[1] >= white && sensor[2] <= gray)
             turn_right();
-        else if( sensor[1] <= gray && sensor[2] >= white)
+        else if( sensor[1] <= black && sensor[2] >= white)
             turn_left();
         else
             go_straight();
-        if( sensor[0] <= gray && sensor[3] <= grayR){
+        if( sensor[0] <= black && sensor[3] <= blackR){
             stop_point();
             break;
         }