Diff: main.cpp

Revision:

41:38d79b6513c0

Parent:

39:87dcdff27797

Child:

42:982064594ba6

--- a/main.cpp	Mon Mar 04 23:44:07 2019 +0000
+++ b/main.cpp	Tue Mar 05 01:45:03 2019 +0000
@@ -10,7 +10,7 @@
 #include "pi.h"
 #include "can.h"
 #define USE_CAN //can通信するならdefine.しないなら切らないとエラー出る
-#define USE_ROS
+//#define USE_ROS
 #include <ros.h>
 #include <geometry_msgs/Vector3.h>
 #endif
@@ -72,11 +72,11 @@
     FRONTLEG_ON_SANDDUNE, //前足かける
 };
 
-float offset_x_m[4] = {-0.1, 0.1, -0.1, 0.1},
+float offset_x_m[4] = {-0.1, -0.1, -0.1, -0.1},
       offset_y_m[4] = {0.35, 0.35, 0.35, 0.35};
 //strideはLRFから変更するようにする
 float stride_m[4] = {0.2, 0.2, 0.2, 0.2},
-      height_m[4] = {0.1, 0.1, 0.1, 0.1}, buffer_height_m = 0.05,
+      height_m[4] = {0.02, 0.02, 0.02, 0.02}, buffer_height_m = 0.05,
       stridetime_s = 1, toptime_s = 0.4, buffer_time_s = 0.2;
 /*
     LineParam over_come_front[]{
@@ -159,13 +159,23 @@
         nh_mbed.spinOnce();
     }
 #else
-    if (SetWalk(walk, OVERCOME) == 1)
+    /*if (SetWalk(walk, OVERCOME) == 1)
     {
         printf("error: OVERCOME\r\n");
         return 1; //強制終了
     }
     for (int i = 0; i < 2; i++) //歩数
-        MoveOneCycle(walk, leg);
+        MoveOneCycle(walk, leg);*/
+        stride_m[LEFT_F] = 0.25;
+        stride_m[RIGHT_F] = 0.25;
+        stride_m[LEFT_B] = 0.25;
+        stride_m[RIGHT_B] = 0.25;
+    if (SetWalk(walk, LRFPOSTURE) == 1)
+    {
+        printf("error: OVERCOME\r\n");
+        return 1; //強制終了
+    }
+    while(1) MoveOneCycle(walk, leg);
     /*
     if (SetWalk(walk, FRONTLEG_ON_SANDDUNE) == 1)
     {