Omuni.cpp

00001 #include "Omuni.h"
00002 #include "mbed.h"
00003 
00004 void motor_ff(){//フルスピード前
00005     motor(0,CCW,0.3);
00006     motor(1,CW,0.3);
00007     motor(2,CW,0.6);
00008 }
00009 void motor_fs(){//スロウスピード前
00010     motor(0,CCW,0.2);
00011     motor(1,CCW,0.2);
00012     motor(2,CW,0.4);
00013 }
00014 void motor_lf(){//フルスピード左
00015     motor(0,CCW,0.5);
00016     motor(1,CCW,0.5);
00017     motor(2,STOP,0);
00018 }
00019 void motor_ls(){//スロウスピード左
00020     motor(0,CCW,0.3);
00021     motor(1,CCW,0.3);
00022     motor(2,STOP,0);
00023 }
00024 void motor_bf(){//フルスピード後ろ
00025     motor(0,CCW,0.3);
00026     motor(1,CCW,0.3);
00027     motor(2,CCW,0.6);
00028 }
00029 void motor_bs(){//スロウスピード後ろ
00030     motor(0,CCW,0.2);
00031     motor(1,CCW,0.2);
00032     motor(2,CCW,0.4);
00033 }
00034 void motor_dr(){//斜め右上に進む
00035     motor(0,STOP,0);
00036     motor(1,CW,0.3);
00037     motor(2,CW,0.3);
00038 }
00039 void motor_dl(){//斜め左上に進む
00040     motor(0,CW,0.3);
00041     motor(1,STOP,0);
00042     motor(2,CW,0.3);
00043 }
00044 void motor_rf(){//フルスピード右
00045     motor(0,CCW,0.5);
00046     motor(1,CW,0.5);
00047     motor(2,STOP,0);
00048 }
00049 void motor_s(){//ストップ
00050     motor(0,STOP,0);
00051     motor(1,STOP,0);
00052     motor(2,STOP,0);
00053 }
00054