Diff: header.h

Revision:

1:a1e592eca305

Parent:

0:df2659fd8031

--- a/header.h	Sun Aug 28 17:03:34 2016 +0000
+++ b/header.h	Tue Aug 30 06:51:41 2016 +0000
@@ -130,44 +130,4 @@
 
 }
 
-void extraordinary(){
 
-    int x, y,targetx,targety;
-    float theta, phi;
-
-    targetx=sensor()*1819;
-    targety=1750;
-    moveto(targetx,0);
-    
-    //よく使うかたまり
-        x = coordinateX();
-        y = coordinateY();
-        theta = coordinateTheta();//自己位置取得
-        phi = atan(double(targety - y) / double(targetx - x));//目的地への角度phi取得
-        int goalx = 0, goaly = blue()*1200;//受け渡しゾーンの中心
-
-    //まず目的地方面に回転。今回は必ず時計回りで位置合わせするが今後最短経路に直す
-    while (1){
-        x = coordinateX();
-        y = coordinateY();
-        theta = coordinateTheta();
-        phi = atan(double(targety - y) / double(targetx - x));
-
-        move((-1)*speed, speed);
-        if (phi - allowdegree < theta&&theta< phi + allowdegree){ break; }//thetaにpiを足して逆ベクトルを判定
-    }
-    
-    open_arm();
-    open_hand();
-        
-    moveto(targetx,1750);
-    
-    close_hand();
-    close_arm();
-    lift(1);
-    
-    moveto(goalx,goaly);
-}
-
-
-