Diff: foot.cpp

Revision:

4:9ba47e5db1e2

Parent:

0:3dc012104243

--- a/foot.cpp	Thu Sep 26 02:23:27 2019 +0000
+++ b/foot.cpp	Sat Oct 05 01:41:37 2019 +0000
@@ -20,7 +20,7 @@
 PwmOut pwms[8] = {RFA,RFB,LFA,LFB,RBA,RBB,LBA,LBB};
 PwmOut lockR(PB_10);
 PwmOut lockL(PB_11);
-PwmOut lockpwms[2] = {lockR,lockL};
+
 //new
 //PB_6 -> PD_12
 //PC_7 -> PB_5
@@ -53,8 +53,9 @@
   {255, -255, 255, -255},//9左旋回
   {500,500,500,500}
 };
-float pwm_g[] = {1.1052f,1,1.0421f,1.0526f};
-
+//1.1052f,1,1.0421f,1.0726f
+float pwm_g[] = {1,0.904f,0.982f,0.970f};
+    //1,0.904,0.942,0.970
 void Move(int way,float pwm){
     int num;
     for(int i =0;i<4;i++){
@@ -84,12 +85,12 @@
             pwms[i*2] = 0;
             pwms[i*2+1] = pwm*pwm_g[i];
         }else if(num == 500){
-            pwms[i*2] = 1;
-            pwms[i*2+1] = 1;
+            pwms[i*2] = 0;
+            pwms[i*2+1] = 0;
             }
         }
     }
-    
+/*
 void Move_lock(int way,float pwm){
     int num;
     if(count_Move_lock == 0){
@@ -109,7 +110,7 @@
         }
         }
     }
-
+*/
 void trans(int a,int dis,float *x,float *y,int *sign){
     if(a == 0){
         *y=dis;