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fujiwing2017: Commit


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Revision85 (tree)
Zeit2017-11-13 20:31:42
Autoryus_suzuki

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--- branches/CS_0922_LPF/sdk/OBJ/app.cpp (revision 84)
+++ branches/CS_0922_LPF/sdk/OBJ/app.cpp (revision 85)
@@ -138,13 +138,13 @@
138138 CGyroSensor *m_CGyroSensor;
139139 m_CGyroSensor = m_CSensorFactory->getGyroSensor();
140140
141- //ev3_lcd_fill_rect(0, 0, EV3_LCD_WIDTH, EV3_LCD_HEIGHT, EV3_LCD_WHITE);
142- //ev3_lcd_draw_string("Factory Created! ", 0, CALIB_FONT_HEIGHT*2);
143- //tslp_tsk(500); /* 10msecウェイト */
144-
145141 ev3_lcd_fill_rect(0, 0, EV3_LCD_WIDTH, EV3_LCD_HEIGHT, EV3_LCD_WHITE);
146- ev3_lcd_draw_string("AreaSwitching Get! ", 0, CALIB_FONT_HEIGHT*2);
142+ ev3_lcd_draw_string("Factory Created! ", 0, CALIB_FONT_HEIGHT*2);
147143 tslp_tsk(1000); /* 1000msecウェイト */
144+
145+// ev3_lcd_fill_rect(0, 0, EV3_LCD_WIDTH, EV3_LCD_HEIGHT, EV3_LCD_WHITE);
146+// ev3_lcd_draw_string("AreaSwitching Get! ", 0, CALIB_FONT_HEIGHT*2);
147+// tslp_tsk(500); /* 10msecウェイト */
148148
149149 // ジャイロと倒立振子を初期化.
150150 m_CGyroSensor->reset();
@@ -154,9 +154,9 @@
154154 m_CLRMotorPowerControl->LRControl(0, 0, 0);
155155 //m_CTailMotorOutput->Output(0);
156156
157- //ev3_lcd_fill_rect(0, 0, EV3_LCD_WIDTH, EV3_LCD_HEIGHT, EV3_LCD_WHITE);
158- //ev3_lcd_draw_string("Reset Complete! ", 0, CALIB_FONT_HEIGHT*2);
159- //tslp_tsk(500); /* 10msecウェイト */
157+ ev3_lcd_fill_rect(0, 0, EV3_LCD_WIDTH, EV3_LCD_HEIGHT, EV3_LCD_WHITE);
158+ ev3_lcd_draw_string("Reset Complete! ", 0, CALIB_FONT_HEIGHT*2);
159+ tslp_tsk(500); /* 10msecウェイト */
160160
161161 // Bluetooth起動.
162162 CGlobalVariable::getInstance()->global_bluetooth = ev3_serial_open_file(EV3_SERIAL_BT);
@@ -245,8 +245,11 @@
245245
246246 CTailBrakeControl* instance = CTailBrakeControlFactory::getInstance()->getTailBrakeControl();
247247
248+ bool flag = true;
249+ char msg[256];
250+
248251 // 走行完了時
249- if (curAreaID == AreaSW->getAreaNum())
252+ if (curArea == NULL)
250253 {
251254 AreaSW->getStopArea()->run(); // 停止.
252255 ev3_lcd_fill_rect(0, 0, EV3_LCD_WIDTH, EV3_LCD_HEIGHT, EV3_LCD_WHITE);
@@ -257,9 +260,7 @@
257260 }
258261
259262 // 走行処理.
260- bool flag = true;
261- char msg[256];
262- if(curArea != NULL)
263+ else
263264 {
264265 switch(curArea->run())
265266 {
@@ -269,7 +270,7 @@
269270 ev3_lcd_fill_rect(0, 0, EV3_LCD_WIDTH, EV3_LCD_HEIGHT, EV3_LCD_WHITE);
270271 ev3_lcd_draw_string("return false", 0, 24);
271272 tslp_tsk(500); /* 10msecウェイト */
272- ev3_speaker_set_volume(150);
273+ ev3_speaker_set_volume(50);
273274 ev3_speaker_play_tone(261.63, 1000);
274275 break;
275276
@@ -291,11 +292,6 @@
291292 break;
292293 }
293294 }
294- else
295- {
296- ev3_lcd_draw_string("Area is NULL", 0, 24);
297- return;
298- }
299295
300296 // 続行不可能状態時.
301297 if(false == flag)
--- branches/CS_0922_LPF/sdk/workspace/L_ETRobo2017_0916_suzuki/Manager/AreaControl/Area/CAreaFactory.cpp (revision 84)
+++ branches/CS_0922_LPF/sdk/workspace/L_ETRobo2017_0916_suzuki/Manager/AreaControl/Area/CAreaFactory.cpp (revision 85)
@@ -295,7 +295,7 @@
295295 //RUN_information m_RUN_information = {左モータパワー, 右モータパワー, 尻尾角度, 旋回角度};.
296296 //外カーブ.
297297 struct PID_Gain B6_LightPID_Gain = {0.20, 0.001, 2.7};
298- struct RUN_information B6_RUN_information = {135, 60, 0, 0};
298+ struct RUN_information B6_RUN_information = {120, 60, 0, 0};
299299 // struct RUN_information B6_RUN_information = {100, 65, 0, 0};
300300 m_CDrivingB6Area = new CDrivingArea(B6_RUN_information, B6_LightPID_Gain, m_StopDetection,
301301 m_B6AreaMileageDetection, m_CTailBrakeControl, m_CLightPIDControl, m_CTwoWheelBalanceControl);
@@ -303,7 +303,7 @@
303303 //RUN_information m_RUN_information = {左モータパワー, 右モータパワー, 尻尾角度, 旋回角度};.
304304 //内カーブ.
305305 struct PID_Gain B7_LightPID_Gain = {0.16, 0.001, 2.7};
306- struct RUN_information B7_RUN_information = {110, 160, 0, 0};
306+ struct RUN_information B7_RUN_information = {120, 160, 0, 0};
307307 // struct RUN_information B7_RUN_information = {80, 100, 0, 0};
308308 m_CDrivingB7Area = new CDrivingArea(B7_RUN_information, B7_LightPID_Gain, m_StopDetection,
309309 m_B7AreaMileageDetection, m_CTailBrakeControl, m_CLightPIDControl, m_CTwoWheelBalanceControl);
@@ -311,7 +311,7 @@
311311 //RUN_information m_RUN_information = {左モータパワー, 右モータパワー, 尻尾角度, 旋回角度};.
312312 //内緩カーブ
313313 struct PID_Gain B8_LightPID_Gain = {0.10, 0.001, 1.2};
314- struct RUN_information B8_RUN_information = {115, 135, 0, 0};
314+ struct RUN_information B8_RUN_information = {120, 135, 0, 0};
315315 // struct RUN_information B8_RUN_information = {90, 100, 0, 0};
316316 m_CDrivingB8Area = new CDrivingArea(B8_RUN_information, B8_LightPID_Gain, m_StopDetection,
317317 m_B8AreaMileageDetection, m_CTailBrakeControl, m_CLightPIDControl, m_CTwoWheelBalanceControl);
@@ -319,7 +319,7 @@
319319 //RUN_information m_RUN_information = {左モータパワー, 右モータパワー, 尻尾角度, 旋回角度};.
320320 //内急カーブ.
321321 struct PID_Gain B9_LightPID_Gain = {0.30, 0.001, 3.6};
322- struct RUN_information B9_RUN_information = {90, 135, 0, 0};
322+ struct RUN_information B9_RUN_information = {100, 135, 0, 0};
323323 // struct RUN_information B9_RUN_information = {65, 100, 0, 0};
324324 m_CDrivingB9Area = new CDrivingArea(B9_RUN_information, B9_LightPID_Gain, m_StopDetection,
325325 m_B9AreaMileageDetection, m_CTailBrakeControl, m_CLightPIDControl, m_CTwoWheelBalanceControl);
@@ -327,7 +327,7 @@
327327 //RUN_information m_RUN_information = {左モータパワー, 右モータパワー, 尻尾角度, 旋回角度};.
328328 //外急カーブ.
329329 struct PID_Gain B10_LightPID_Gain = {0.26, 0.001, 3.4};
330- struct RUN_information B10_RUN_information = {135, 90, 0, 0};
330+ struct RUN_information B10_RUN_information = {100, 90, 0, 0};
331331 // struct RUN_information B10_RUN_information = {100, 65, 0, 0};
332332 m_CDrivingB10Area = new CDrivingArea(B10_RUN_information, B10_LightPID_Gain, m_StopDetection,
333333 m_B10AreaMileageDetection, m_CTailBrakeControl, m_CLightPIDControl, m_CTwoWheelBalanceControl);
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