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Nebel 2013-10-24 01:40:28 +09:00
parent f728213817
commit cd7fe687b8
1 changed files with 12 additions and 12 deletions
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24
hanzo4.ino
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@ -8,15 +8,15 @@
#include <Servo.h>
#include "Motor.h"
const unsigned long LAP_DISTANCE = 28510; //ロータリーエンコーダーのカウント数/周
const unsigned long TURN_DISTANCE = 4700; //カーブ中でのカウント数
const unsigned long LAP_DISTANCE = 28500; //ロータリーエンコーダーのカウント数/周
const unsigned long TURN_DISTANCE = 4650; //カーブ中でのカウント数
const int LANCE_ANGLE_E = 45; //度
const int LANCE_ANGLE_F = 62; //度
const int LANCE_ANGLE_E = 40; //度
const int LANCE_ANGLE_F = 61; //度
const int LANCE_ANGLE_A = 29; //度
const int LANCE_ANGLE_B = -30; //度
const int LANCE_ANGLE_C = 32; //度
const int LANCE_ANGLE_D = -40; //度
const int LANCE_ANGLE_B = -32; //度
const int LANCE_ANGLE_C = 34; //度
const int LANCE_ANGLE_D = -42; //度
//const unsigned char SPEED_DEFAULT = 0;
const unsigned char SPEED_DEFAULT = 127;
@ -155,7 +155,7 @@ void trace(){
void modeSet(){
if(sensor == 0) errorCount++;
else errorCount = 0;
if(distance > LAP_DISTANCE*5 || errorCount > 5000){
if(distance > LAP_DISTANCE*13 || errorCount > 5000){
mode = MODE_STOP;
return;
}
@ -186,7 +186,7 @@ void modeSet(){
modeChangedDistance = distance;
if(distance%LAP_DISTANCE < LAP_DISTANCE/2){
;
}else if(distance%LAP_DISTANCE < LAP_DISTANCE*0.80){
}else if(distance%LAP_DISTANCE < LAP_DISTANCE*0.75){
mode = MODE_ATTACK_B;
}else if(distance%LAP_DISTANCE < LAP_DISTANCE*0.85){
mode = MODE_ATTACK_D;
@ -251,8 +251,8 @@ void loop(){
case MODE_ATTACK_E: //平行標的1
trace();
lance(LANCE_ANGLE_E);
if(distance - modeChangedDistance > 1000){ //マーカーから少し進んで、叩く
lance(LANCE_ANGLE_E + 5);
if(distance - modeChangedDistance > 800){ //マーカーから少し進んで、叩く
lance(LANCE_ANGLE_E + 8);
mode = MODE_STRAIGHT;
}
break;
@ -260,7 +260,7 @@ void loop(){
trace();
lance(LANCE_ANGLE_F);
if(distance - modeChangedDistance > 1000){ //マーカーから少し進んで、叩く
lance(LANCE_ANGLE_F + 5);
lance(LANCE_ANGLE_F + 8);
mode = MODE_STRAIGHT;
}
break;