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）