Nagito Sukegawa / TrackedVehicle

Hairo ROBOCON2021 TrackedVehicle moudule library. Ibaraki KOSEN

Dependents:   hairobo2021_F446re

Files at this revision

API Documentation at this revision

Revision 1:132886173bec, committed 2021-12-05

Comitter:
st17099ng
Date:
Sun Dec 05 01:30:13 2021 +0000
Parent:
0:b5561184f201
Commit message:
12/5; back up commit.

Changed in this revision

TrackedVehicle.cpp Show annotated file Show diff for this revision Revisions of this file 
diff -r b5561184f201 -r 132886173bec TrackedVehicle.cpp
--- a/TrackedVehicle.cpp	Fri Nov 26 00:29:28 2021 +0000
+++ b/TrackedVehicle.cpp	Sun Dec 05 01:30:13 2021 +0000
@@ -3,8 +3,8 @@
 TrackedVehicle::TrackedVehicle(uint16_t rightID, uint16_t leftID) : RightID(rightID), LeftID(leftID), RightMsg(rightID, RightData, 3, CANData, CANStandard), LeftMsg(leftID, LeftData, 3, CANData, CANStandard)
 {
     ModuleStatus = INITIAL_STATUS;
-    CWDuty  = CW30_DUTY;
-    CCWDuty = CCW30_DUTY;
+    CWDuty  = CW50_DUTY;
+    CCWDuty = CCW50_DUTY;
     EncoderPulse = 4096;
     MaxTargetPulse = EncoderPulse + 113;
     MinTargetPulse = EncoderPulse - 113;
@@ -103,10 +103,9 @@
     } else if(EncoderPulse < MinTargetPulse ) {
         /*  超信地右旋回  */
         RightMsg.data[DUTY] = CWDuty;
-        LeftMsg.data[DUTY] = CCWDuty
-        ;
+        LeftMsg.data[DUTY] = CCWDuty;
 
-    } else {
+    } else if(EncoderPulse >= MinTargetPulse && EncoderPulse <= MaxTargetPulse){
         RightMsg.data[DUTY] = BREAK_DUTY;
         LeftMsg.data[DUTY] = BREAK_DUTY;
     }