Takuya Kobayashi / Mbed 2 deprecated mbed_linetrace_termC

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Dependencies:   mbed

Diff: main.cpp

Revision:
1:5c26d3744592
Parent:
0:500d22d1efeb
Child:
2:47477c2b1925
diff -r 500d22d1efeb -r 5c26d3744592 main.cpp
--- a/main.cpp	Thu Nov 15 06:19:52 2018 +0000
+++ b/main.cpp	Thu Nov 15 06:40:44 2018 +0000
@@ -67,6 +67,15 @@
     ledLL = 0b10;
 }
 
+void go_straight_CL(){  //CLのみでトレース
+    Mrighti = 1;
+    Mrightp = (1.3 - KP * pl) * 1.0f;
+    Mlefti = 1;
+    Mleftp = (KP * pl + 0.3) * 1.0f;
+    ledRR = 0b10;
+    ledLL = 0b11;
+}
+
 void turn_right(){
     Mrighti = 2;
     Mrightp = 0.05f;
@@ -197,6 +206,9 @@
             #endif
         } else
             go_straight_p();
+//          go_straight_CR();
+//          go_straight_CL();
+        
         if( sensor[0] < blackL && sensor[3] < blackR){
             stop_point_ver2();
             break;