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trunk/src/hrp2_beta7/sdk/workspace/sample_cpp2/course/StartToGoalL.cpp (diff) trunk/src/hrp2_beta7/sdk/workspace/sample_cpp2/course/StartToGoalR.cpp (diff)| @@ -23,7 +23,7 @@ | ||
| 23 | 23 | // スピードダウン |
| 24 | 24 | mode = SpeedDown; |
| 25 | 25 | // 次モードのforward値 |
| 26 | - minSpeed = 90; | |
| 26 | + minSpeed = 100; | |
| 27 | 27 | } |
| 28 | 28 | else if(totalAvg < 7400) { |
| 29 | 29 | // 第1カーブ(A地点からB地点まで) |
| @@ -30,7 +30,7 @@ | ||
| 30 | 30 | mode = Curve; |
| 31 | 31 | } |
| 32 | 32 | else if(totalAvg < 9500) { |
| 33 | - mode = Straight; | |
| 33 | + //mode = Straight; | |
| 34 | 34 | forward = 120; |
| 35 | 35 | } |
| 36 | 36 | else if(totalAvg < 10600) { |
| @@ -38,15 +38,11 @@ | ||
| 38 | 38 | } |
| 39 | 39 | else if(totalAvg < 12000) { |
| 40 | 40 | mode = Curve; |
| 41 | - forward = 80; | |
| 41 | + //forward = 80; | |
| 42 | 42 | } |
| 43 | 43 | else if(totalAvg < 20000000) { |
| 44 | 44 | mode = Straight; |
| 45 | - forward = 140; | |
| 46 | 45 | } |
| 47 | - else if(totalAvg < 10670) { | |
| 48 | - | |
| 49 | - } | |
| 50 | 46 | else { |
| 51 | 47 | // ゴール通過後 次の走行クラス(難所)へ切り替え |
| 52 | 48 | return true; |
| @@ -55,9 +51,9 @@ | ||
| 55 | 51 | // ログ出力 コメントアウト |
| 56 | 52 | int colorSensor = ev3_color_sensor_get_reflect(EV3_PORT_3); |
| 57 | 53 | int touchSensor = ev3_touch_sensor_is_pressed(EV3_PORT_1); |
| 58 | - if(touchSensor == 1){ | |
| 54 | +// if(touchSensor == 1){ | |
| 59 | 55 | log("%f, %d, %f, %d, %d, %d\r\n", totalAvg, mode, forward, colorSensor, volt, touchSensor); |
| 60 | - } | |
| 56 | +// } | |
| 61 | 57 | return false; |
| 62 | 58 | } |
| 63 | 59 |
| @@ -86,7 +82,7 @@ | ||
| 86 | 82 | BaseCourse::SpeedDown(minSpeed); |
| 87 | 83 | } |
| 88 | 84 | else if(mode == Curve) { |
| 89 | - forward = 90; | |
| 85 | + forward = 100; | |
| 90 | 86 | } |
| 91 | 87 | } |
| 92 | 88 |
| @@ -43,9 +43,8 @@ | ||
| 43 | 43 | else if(totalAvg < 12100) { |
| 44 | 44 | mode = ThirdCurve; |
| 45 | 45 | } |
| 46 | - else if(totalAvg < 20000) { | |
| 46 | + else if(totalAvg < 20000000) { | |
| 47 | 47 | mode = Straight; |
| 48 | - forward = 140; | |
| 49 | 48 | } |
| 50 | 49 | else { |
| 51 | 50 | // ゴール通過後 次の走行クラス(難所)へ切り替え |
| @@ -55,9 +54,9 @@ | ||
| 55 | 54 | // ログ出力 コメントアウト |
| 56 | 55 | int colorSensor = ev3_color_sensor_get_reflect(EV3_PORT_3); |
| 57 | 56 | int touchSensor = ev3_touch_sensor_is_pressed(EV3_PORT_1); |
| 58 | - if(touchSensor == 1){ | |
| 57 | + //if(touchSensor == 1){ | |
| 59 | 58 | log("%f, %d, %f, %d, %d, %d\r\n", totalAvg, mode, forward, colorSensor, volt, touchSensor); |
| 60 | - } | |
| 59 | + //} | |
| 61 | 60 | return false; |
| 62 | 61 | } |
| 63 | 62 |
| @@ -85,13 +84,13 @@ | ||
| 85 | 84 | BaseCourse::SpeedDown(minSpeed); |
| 86 | 85 | } |
| 87 | 86 | else if(mode == FirstCurve) { |
| 88 | - forward = 90; | |
| 87 | + forward = 110;//90 | |
| 89 | 88 | } |
| 90 | 89 | else if(mode == SecondCurve) { |
| 91 | - forward = 70; | |
| 90 | + forward = 110;//70 | |
| 92 | 91 | } |
| 93 | 92 | else if(mode == ThirdCurve) { |
| 94 | - forward = 100; | |
| 93 | + forward = 110; | |
| 95 | 94 | } |
| 96 | 95 | } |
| 97 | 96 |
