Diff: main.cpp

Revision:

10:01aa50804d85

Parent:

9:0c1fce6d8094

--- a/main.cpp	Sun Apr 08 09:56:29 2018 +0000
+++ b/main.cpp	Sun Apr 15 00:36:15 2018 +0000
@@ -132,7 +132,7 @@
     master.frequency(100000);
     lamp = 1.0;
 //-------初期化-------------------------------------------------
-    syokikanomai();
+    syokikanomai();//初期位置
     buzzer = 0;
 //-----------メインループ----------------------------------------
     while (true) {
@@ -149,12 +149,14 @@
         
         x_dist = Enc_Carry_X.read_rotate();
         y_dist = Enc_Carry_Y.read_rotate();
+        
+        //PCからの命令
         kbtpc.putc(state);
         if(kbtpc.readable()){
             kbtread = kbtpc.getc();
         }
         if(kbtread == 255){
-            mode = true;
+            mode = true;//
         }else if(kbtread == 150){
             mode = false;
         }else if(kbtread == 100){
@@ -281,7 +283,7 @@
                     }else if(crosscount == 1){
                         directmode = STOP;
                         prelinedata = 0;
-                        touteki(1.0,185,0);
+                        touteki(1.0,RED_TOUTEKI,0);
                         //syokikanomai2();
                         if(set_flag == false){
                             directmode = RIGHT;
@@ -359,7 +361,7 @@
                     }else if(crosscount == 1){
                         directmode = STOP;
                         prelinedata = 0;
-                        touteki(1.0,190,1);
+                        touteki(1.0,BLUE_TOUTEKI,1);
                         //syokikanomai2();
                         if(set_flag == false){
                             directmode = RIGHT;
@@ -386,7 +388,7 @@
                         if(yellow_throw_flag == false){
                             yellow_throwing();
                         }else{
-                            touteki(1.0,184,1.0);
+                            touteki(1.0,YELLOW_TOUTEKI,1.0);
                             syokikanomai2();   
                         }
                     }
@@ -474,7 +476,7 @@
         }
         
         if (syokika_flag==true) {
-            if(encoder_count == 165){
+            if(encoder_count == SYOKIITI){
                 motor_pwm=0;
                 motor_dir1=1;
                 motor_dir2=1;
@@ -505,8 +507,8 @@
         }
         if(syokika_flag==true) {
             int set_pos;
-            if(yellow_throw_flag == true) set_pos = 165;
-            else set_pos = 165;
+            if(yellow_throw_flag == true) set_pos = YELLOW_SYOKIITI;
+            else set_pos = SYOKIITI;
             if(encoder_count == set_pos){
                 buzzer = 0.0;
                 motor_pwm=0;