Diff: main.cpp

Revision:

5:28581157108b

Parent:

4:db1640bd0e89

Child:

6:2bc2950f32d8

diff -r db1640bd0e89 -r 28581157108b main.cpp
--- a/main.cpp	Wed May 01 06:42:07 2019 +0000
+++ b/main.cpp	Wed May 01 07:42:43 2019 +0000
@@ -294,7 +294,7 @@
             target_ro = (int)target_ro_now;
             target_ri = (int)target_ri_now;
             bus_out = 0;
-            printf("target is %d\n\r",target_ro);
+            //printf("target is %d\n\r",target_ro);
             straight(target_ro, target_ri);
         }
         motor_ro_f.write(0);
@@ -328,8 +328,8 @@
 }
 void turnRight(int &step_num_l, int &step_num_r)
 {
-    leg_ro.setTargetPose(360+(step_num_l-1)*180);
-    leg_ri.setTargetPose(180+(step_num_l-1)*180);
+    leg_ro.setTargetPose(360+step_num_l*180);
+    leg_ri.setTargetPose(180+step_num_l*180);
     robot.run();
     motor_ro_f.write(0);
     motor_ro_b.write(0);