謙一 永井 / Mbed 2 deprecated Nucleo_SRC_syudouki0919

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Dependencies:   mbed

Files at this revision

API Documentation at this revision

Revision 6:65307ba1e73a, committed 2019-09-20

Comitter:
kenboh
Date:
Fri Sep 20 14:01:47 2019 +0000
Parent:
5:63a35bb0d03d
Commit message:
roll0920

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/main.cpp	Fri Sep 20 13:48:02 2019 +0000
+++ b/main.cpp	Fri Sep 20 14:01:47 2019 +0000
@@ -140,7 +140,7 @@
             
 
             
-            if( (float)hDS.ANALOG.LY > (float)-0.1 && (float)hDS.ANALOG.LY < (float)0.1 &&  (float)hDS.ANALOG.LX > (float)-0.1 && (float)hDS.ANALOG.LX < (float)0.1 ){
+            if( (float)hDS.ANALOG.LY > (float)-0.1 && (float)hDS.ANALOG.LY < (float)0.1 &&  (float)hDS.ANALOG.LX > (float)-0.1 && (float)hDS.ANALOG.LX < (float)0.1 && hDS.BUTTON.L1 == 0 && hDS.BUTTON.R1 == 0){
                 MD1PWM2.pulsewidth_us(0);
                 MD1CW2 = 0;
                 MD1CCW2 = 0;                
@@ -153,7 +153,8 @@
                 MD3CW2 = 0;
                 MD3CCW2 = 0;
             }
-            else{    
+            else{   
+             
                 rightfront = hDS.ANALOG.LX*-2/2 + hDS.ANALOG.LY*2/root3 + (int)hDS.BUTTON.L1 * ROLLRATE + (int)hDS.BUTTON.R1 * -ROLLRATE;
                 leftfront = hDS.ANALOG.LX*-2/2+hDS.ANALOG.LY*-2/root3 + (int)hDS.BUTTON.L1 * ROLLRATE + (int)hDS.BUTTON.R1 * -ROLLRATE;
                 back = hDS.ANALOG.LX*2 + (int)hDS.BUTTON.L1 * ROLLRATE + (int)hDS.BUTTON.R1 * -ROLLRATE;