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team-ncxx-sl: Commit


Commit MetaInfo

Revision391 (tree)
Time2018-07-22 15:25:46
Authorwada-yukino

Log Message

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Change Summary

Incremental Difference

--- trunk/src/hrp2_beta7/sdk/workspace/sample_cpp2/course/LookupGate.cpp (revision 390)
+++ trunk/src/hrp2_beta7/sdk/workspace/sample_cpp2/course/LookupGate.cpp (revision 391)
@@ -20,7 +20,7 @@
2020 const signed int interval1stTailAngle = 78;
2121 const signed int interval2ndTailAngle = 72;
2222 //const signed int interval3ndTailAngle = 68;
23-const signed int throughGateTailAngle = 69;
23+const signed int throughGateTailAngle = 66;
2424
2525 void LookupGate::Run() {
2626 sonar_alert();
@@ -334,7 +334,7 @@
334334 void LookupGate::throughGateReady4th() {
335335 runMode = run66;
336336 BaseCourse::Run();
337- if (++counter >= 250) {
337+ if (++counter >= 200) {
338338 log("LookupGateStateThroughGateReady5th\r\n");
339339 lookupGateState = LookupGateStateThroughGateReady5th;
340340 counter = 0;
@@ -354,7 +354,7 @@
354354 {
355355 runMode = run66;
356356 BaseCourse::Run();
357- if (++counter >= 250) {
357+ if (++counter >= 200) {
358358 log("LookupGateStateThroughGateReady7th\r\n");
359359 lookupGateState = LookupGateStateThroughGateReady7th;
360360 counter = 0;
@@ -398,7 +398,7 @@
398398 forwardMotorAngL = motor_ang_l;
399399 }
400400 } else {
401- if (250 < motor_ang_l - forwardMotorAngL) {
401+ if (160 < motor_ang_l - forwardMotorAngL) {
402402 log("LookupGateStateThroughGateStop\r\n");
403403 lookupGateState = LookupGateStateThroughGateStop;
404404 }
@@ -493,7 +493,7 @@
493493 }
494494
495495 void LookupGate::calcMotorPower() {
496-// log("%d,%d,\r\n", colorSensor,runMode);
496+ log("%d,%d,\r\n", colorSensor,runMode);
497497 if(runMode == normalRun) {
498498 BaseCourse::calcMotorPower();
499499 } else if(runMode == run66) {
@@ -516,7 +516,7 @@
516516 pwm_R = forward;
517517 }
518518 } else if(runMode == run84) {
519- const int LightWhite = 19;
519+ const int LightWhite = 10;
520520 const int LightBlack = 0;
521521 const int targetColor = (LightWhite + LightBlack) / 2;
522522 const int defaultPower = 5;
@@ -539,7 +539,7 @@
539539 void LookupGate::GraySerchRun() {
540540 runMode = run84;
541541 BaseCourse::Run();
542- if (350 < (motor_ang_l - forwardMotorAngL)) {
542+ if (200 < (motor_ang_l - forwardMotorAngL)) {
543543 log("LookupGateStateChangeGarage\r\n");
544544 lookupGateState = LookupGateStateChangeGarage;
545545 }
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