From f0b0f370cc09041d9c9d83d3fb705a5ed7cef0a8 Mon Sep 17 00:00:00 2001
From: kou029w <kou029w@gmail.com>
Date: Thu, 30 Aug 2012 23:08:43 +0900
Subject: [PATCH] update

---
 arduino/catchrobo2012/catchrobo2012.ino | 24 ++++++++++++------------
 1 file changed, 12 insertions(+), 12 deletions(-)

diff --git a/arduino/catchrobo2012/catchrobo2012.ino b/arduino/catchrobo2012/catchrobo2012.ino
index 5450960..3caf987 100644
--- a/arduino/catchrobo2012/catchrobo2012.ino
+++ b/arduino/catchrobo2012/catchrobo2012.ino
@@ -11,7 +11,7 @@
 #define PIN_MOTOR_VERTICAL_2     7
 
 #define PIN_SERVO_BASE         9
-#define PIN_SERVO_CATCHER      10
+#define PIN_SERVO_CATCHER     10
 
 #define PIN_PWR A3
 #define PIN_GND A2
@@ -32,7 +32,7 @@ void setup(){
   wiiNun.begin();
   base.attach(PIN_SERVO_BASE);
   catcher.attach(PIN_SERVO_CATCHER);
-  pinMode(PIN_LED , OUTPUT);
+  pinMode(PIN_LED, OUTPUT);
   horMotor.attach(PIN_MOTOR_HORIZON_1, PIN_MOTOR_HORIZON_2);
   verMotor.attach(PIN_MOTOR_VERTICAL_1, PIN_MOTOR_VERTICAL_2);
 }
@@ -60,8 +60,7 @@ void loop(){
 //  char ax = (char)(accx-0x7F);
   char ay = (char)(accy-0x7F); // 水平状態を0にする
   
-  byte baseDeg = 90;
-  byte catcherDeg = 90;
+  static byte baseDeg = 90;
   if(zbut){  // zボタン押しながら
     digitalWrite(PIN_LED, HIGH);
     if(y>0x1F) baseDeg = 180 - atan2(y, x)*180/PI;  // 台座をスティックの角度にする
@@ -69,22 +68,23 @@ void loop(){
     else if(baseDeg > 170) baseDeg = 170;
   }else{  // zボタン離しながら
     digitalWrite(PIN_LED, LOW);
-    horMotor.speed(y);
+    horMotor.speed(y*2);
     baseDeg += x/32; // 台座をxに応じて相対移動
   }
+  base.write(baseDeg);
   
   if(0);
   else if(ay > +0x20) verMotor.mode(GO);
   else if(ay > +0x10) verMotor.speed(+0xCC);
-  else if(ay < -0x10) verMotor.speed(-0xCC);
   else if(ay < -0x20) verMotor.mode(BACK);
+  else if(ay < -0x10) verMotor.speed(-0xCC);
+  else verMotor.mode(STOP);
   
-  catcherDeg = 90;
+  byte catcherDeg = 100;
   if(cbut){  // cボタン押すとキャッチャーを離す
-    catcherDeg = 15;
+    catcherDeg = 30;
   }
-  
-  base.write(baseDeg);
   catcher.write(catcherDeg);
-  delay(10);
-}
+  
+  delay(50);
+}