Rui Kato
/
Nucleo_SS2_No2
2号機
Fork of Nucleo_SS2 by
Diff: main.cpp
- Revision:
- 2:f568ec2e6955
- Parent:
- 1:aabe6887447c
- Child:
- 3:dd3b7c3c327b
--- a/main.cpp Mon Dec 04 04:30:44 2017 +0000 +++ b/main.cpp Mon Dec 04 05:11:53 2017 +0000 @@ -16,6 +16,7 @@ #define STATE_C (2) #define STATE_D (3) #define STATE_E (4) +#define STATE_A2 (5) char mode; int wait_flag; @@ -54,21 +55,21 @@ break; case 17.0: wait_flag = 1; - mode = STATE_A; + mode = STATE_A2; break; - case 27.0: + case 22.0: wait_flag = 1; mode = STATE_D; break; - case 42.0: + case 30.0: wait_flag = 1; mode = STATE_A; break; - case 50.0: + case 37.0: wait_flag = 1; mode = STATE_C; break; - case 54.0: + case 42.0: wait_flag = 1; mode = STATE_A; break; @@ -97,10 +98,20 @@ case STATE_A: myled = 1; // LED点灯 // 左モータの制御 - mypwm4.pulsewidth_ms(50); + mypwm4.pulsewidth_ms(70); mypwm6.pulsewidth_ms(0); // 右モータの制御 - mypwm2.pulsewidth_ms(53); + mypwm2.pulsewidth_ms(75); + mypwm3.pulsewidth_ms(0); + break; + // STATE_A : 前進(左:正転 右:正転) + case STATE_A2: + myled = 1; // LED点灯 + // 左モータの制御 + mypwm4.pulsewidth_ms(98); + mypwm6.pulsewidth_ms(0); + // 右モータの制御 + mypwm2.pulsewidth_ms(100); mypwm3.pulsewidth_ms(0); break; @@ -131,10 +142,10 @@ myled = 1; // LED点灯 // 左モータの制御 mypwm4.pulsewidth_ms(0); - mypwm6.pulsewidth_ms(50); + mypwm6.pulsewidth_ms(80); // 右モータの制御 mypwm2.pulsewidth_ms(0); - mypwm3.pulsewidth_ms(50); + mypwm3.pulsewidth_ms(83); break; // STATE_E : ブレーキ(左:ブレーキ 右:ブレーキ)