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team-ncxx-sl: Commit


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Revision428 (tree)
Zeit2019-09-15 13:56:46
Autorncxx-watanabe

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--- trunk/src/hrp2_beta7/sdk/workspace/sample_cpp2/course/LookupGate.cpp (revision 427)
+++ trunk/src/hrp2_beta7/sdk/workspace/sample_cpp2/course/LookupGate.cpp (revision 428)
@@ -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 = 66;
23+const signed int throughGateTailAngle = 65;
2424
2525 void LookupGate::Run() {
2626 // 左右モータ総合回転角平均
@@ -142,7 +142,7 @@
142142 // ライントレース(84度想定)
143143 tail_control(standTailAngle);
144144 LineTraceWithTail();
145- if (125 < ++waitCount) {
145+ if (200 < ++waitCount) {
146146 waitCount = 0;
147147 lookupGateState = LookupGateStateThroughGateForwardAjustment;
148148 log("To SpinRight\r\n");
@@ -256,10 +256,10 @@
256256 case LookupGateStateThroughGateReady8th:
257257 break;
258258 case LookupGateStateThroughGateForward:
259- forward = 12;
259+ forward = 24;
260260 break;
261261 case LookupGateStateThroughGateForwardAjustment:
262- forward = 8;
262+ forward = 20;
263263 break;
264264 case LookupGateStateBodyDown1st:
265265 case LookupGateStateBodyDown2nd:
@@ -325,7 +325,7 @@
325325 void LookupGate::throughGateReady2nd() {
326326 runMode = run66;
327327 BaseCourse::Run();
328- if (++counter >= 250) {
328+ if (++counter >= 50) {
329329 log("LookupGateStateThroughGateReady3rd\r\n");
330330 lookupGateState = LookupGateStateThroughGateReady3rd;
331331 counter = 0;
@@ -408,7 +408,7 @@
408408 forwardMotorAngL = motor_ang_l;
409409 }
410410 } else {
411- if (350 < motor_ang_l - forwardMotorAngL) {
411+ if (450 < motor_ang_l - forwardMotorAngL) {
412412 log("LookupGateStateThroughGateStop\r\n");
413413 lookupGateState = LookupGateStateThroughGateStop;
414414 }
@@ -468,7 +468,7 @@
468468 BaseCourse::Run();
469469 if(tail_control(standTailAngle)) {
470470 UpridhtBodyCount++;
471- if(UpridhtBodyCount != 5){
471+ if(UpridhtBodyCount != 3){
472472 log("LookupGateStateBeforeSpin\r\n");
473473 lookupGateState = LookupGateStateBeforeSpin;
474474 } else {
@@ -509,14 +509,17 @@
509509 // const int LightGray = 3;
510510 const int LightBlack = 0;
511511 const int targetColor = (LightWhite + LightBlack) / 2;
512- const int defaultPower = 5;
513- const int additionalPower = 5;
512+ const int defaultPower = 10;
513+ const int additionalPower = 10;
514514 if (forward > 0) {
515515 int colorDiff = targetColor - ev3_color_sensor_get_reflect(color_sensor);
516- pwm_L = defaultPower + ((0 < colorDiff) ? additionalPower : 0);
517- pwm_R = defaultPower + ((colorDiff < 0) ? additionalPower : 0);
518- //pwm_R = defaultPower + ((0 < colorDiff) ? additionalPower : 0);
519- //pwm_L = defaultPower + ((colorDiff < 0) ? additionalPower : 0);
516+ if(colorDiff <= 10){
517+ pwm_L = defaultPower + ((0 < colorDiff) ? additionalPower : 0);
518+ pwm_R = defaultPower + ((colorDiff < 0) ? additionalPower : 0);
519+ }else {
520+ pwm_R = defaultPower + ((0 < colorDiff) ? additionalPower : 0);
521+ pwm_L = defaultPower + ((colorDiff < 0) ? additionalPower : 0);
522+ }
520523 } else if(forward == 0) {
521524 pwm_L = 0;
522525 pwm_R = 0;
@@ -525,18 +528,21 @@
525528 pwm_R = forward;
526529 }
527530 } else if(runMode == run84) {
528- const int LightWhite = 16;
531+ const int LightWhite = 12;
529532 // const int LightGray = 9;
530533 const int LightBlack = 0;
531534 const int targetColor = (LightWhite + LightBlack) / 2;
532- const int defaultPower = 5;
533- const int additionalPower = 5;
535+ const int defaultPower = 10;
536+ const int additionalPower = 10;
534537 if (forward > 0) {
535538 int colorDiff = targetColor - ev3_color_sensor_get_reflect(color_sensor);
536- //pwm_L = defaultPower + ((0 < colorDiff) ? additionalPower : 0);
537- //pwm_R = defaultPower + ((colorDiff < 0) ? additionalPower : 0);
538- pwm_R = defaultPower + ((0 < colorDiff) ? additionalPower : 0);
539- pwm_L = defaultPower + ((colorDiff < 0) ? additionalPower : 0);
539+ if(colorDiff <= 10){
540+ pwm_L = defaultPower + ((0 < colorDiff) ? additionalPower : 0);
541+ pwm_R = defaultPower + ((colorDiff < 0) ? additionalPower : 0);
542+ }else {
543+ pwm_R = defaultPower + ((0 < colorDiff) ? additionalPower : 0);
544+ pwm_L = defaultPower + ((colorDiff < 0) ? additionalPower : 0);
545+ }
540546 } else if(forward == 0) {
541547 pwm_L = 0;
542548 pwm_R = 0;
@@ -549,7 +555,7 @@
549555 void LookupGate::GraySerchRun() {
550556 runMode = run84;
551557 BaseCourse::Run();
552- if (340 < (motor_ang_l - forwardMotorAngL)) {
558+ if (512 < (motor_ang_l - forwardMotorAngL)) {
553559 log("LookupGateStateChangeGarage\r\n");
554560 lookupGateState = LookupGateStateChangeGarage;
555561 }
@@ -570,6 +576,7 @@
570576 // グレーサーチモードで、
571577 if (lookupGateState == LookupGateStateChangeGarage) {
572578 ev3_motor_stop(tail_motor, true);
579+ log("LookupGateStateChangeGarage_STOP\r\n");
573580 result = true;
574581 }
575582 return result;
@@ -603,13 +610,13 @@
603610 bool LookupGate::SpinRight() {
604611 int32_t motorAngle = ev3_motor_get_counts(right_motor);
605612 if (targetSpinCount == 0) {
606- targetSpinCount = motorAngle + 300;
613+ targetSpinCount = motorAngle + 370;
607614 //targetSpinCount = motorAngle - 330;
608615 ev3_motor_stop(left_motor, true);
609616 }
610617 if (motorAngle < targetSpinCount) {
611618 // log("target:%d current:%d\r\n", targetSpinCount, motorAngle);
612- ev3_motor_set_power(right_motor, 10);
619+ ev3_motor_set_power(right_motor, 20);
613620 return false;
614621 } else {
615622 ev3_motor_stop(right_motor, true);
@@ -621,7 +628,7 @@
621628 bool LookupGate::SpinLeft() {
622629 int32_t motorAngle = ev3_motor_get_counts(left_motor);
623630 if (targetSpinCount == 0) {
624- targetSpinCount = motorAngle - 360;
631+ targetSpinCount = motorAngle - 300;
625632 // targetSpinCountBack = motorAngle - 600;
626633 //targetSpinCount = motorAngle + 390;
627634 ev3_motor_stop(right_motor, true);
@@ -628,7 +635,7 @@
628635 }
629636 if (targetSpinCount < motorAngle) {
630637 // log("target:%d current:%d\r\n", targetSpinCount, motorAngle);
631- ev3_motor_set_power(left_motor, -10);
638+ ev3_motor_set_power(left_motor, -20);
632639 return false;
633640 } else {
634641 // if(targetSpinCountBack < motorAngle){
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