Diff: main.cpp

Revision:

37:d4b711619962

Parent:

36:b8171eeefcd0

Child:

38:9bed85d32c97

diff -r b8171eeefcd0 -r d4b711619962 main.cpp
--- a/main.cpp	Wed Sep 05 03:58:53 2018 +0000
+++ b/main.cpp	Wed Sep 05 09:37:41 2018 +0000
@@ -12,7 +12,10 @@
 //debug用に追加
 #include "coordinate.h"
 //#define DEBUG_MODE
-const int kWait_ms = 250;
+const int kWait_ms = 500;
+const double kServoOffsetDegreeInBox = 10;
+
+
 int worknum = 0;
 int main()
 {
@@ -31,7 +34,10 @@
     while((worknum = CalPickPlace()) != 23 ) {
         Close();
         //ワークに向かう
-        if(Go(work[worknum]) != 0) continue;
+        if(Go(work[worknum]) == -1) {
+            work[worknum].is_exist = 0;
+            continue;
+        }
         //掴む
         wait_ms(kWait_ms);
         Close();
@@ -43,21 +49,18 @@
         work[worknum].is_exist = 0;
         //シュート位置計算
         int boxspace = CalPutPlace(work[worknum].color);
+        OriginDegree[0] = kOriginDegree[0] - kServoOffsetDegreeInBox;
         //ボックスに行く(失敗(-1)したらcontinue)
         //3のときだけ特別に速度下げる
         if(worknum == 3) kServoVelocity_mm = 100;
         if(Go(shootingbox[boxspace]) != 0) continue;
-        __disable_irq();//割込み禁止
         ManualPutPlace(shootingbox[boxspace]);
         kServoVelocity_mm = 300;
         //放す
         Open();
-        wait_ms(1000);
+        wait_ms(kWait_ms);
+        OriginDegree[0] = kOriginDegree[0];
         //上に持ち上げる
-        pre_skip = -1;
-        do_skip = 0;
-        __enable_irq();//割込み許可
-
         Above(BOX);
         wait_ms(kWait_ms);
         //置いたことを保存