Revision 1:5bd831747630, committed 2019-11-13

Comitter:

takumi64

Date:

Wed Nov 13 12:36:05 2019 +0000

Parent:

0:617b5fe8f980

Commit message:

Changed in this revision

--- a/main.cpp	Tue Nov 12 01:02:51 2019 +0000
+++ b/main.cpp	Wed Nov 13 12:36:05 2019 +0000
@@ -10,8 +10,8 @@
 InterruptIn enc_L(D11);//フォトインタラプタ左
 
 AnalogIn sensor_R(A0);//進行方向右のフォトリフレクタセンサー    
-AnalogIn sensor_L(A1);//進行方向左のセンサー
-AnalogIn sensor_C(A2);//中央配置のセンサー
+AnalogIn sensor_L(A2);//進行方向左のセンサー
+AnalogIn sensor_C(A1);//中央配置のセンサー
 
 DigitalOut led(LED1);
 
@@ -92,27 +92,40 @@
 }
 //制御(maenoshin)
 void control (int Left, int Center, int Right, int sec,float duty){
-    if(Left == 0 && Center == 1 && Right == 0){//全速前進だ！
-        machine_Forward(AIN1,AIN2,BIN1,BIN2,duty);
-        printf("Direction%d:Forward\n",sec);
+    if(Left == 0 && Center == 0 && Right == 0){//all white [stop]
+        machine_Stop(AIN1,AIN2,BIN1,BIN2);
+        printf("Direction [%d] : Stop[all white] \n -- \n",sec);
+        }
+    else if(Left == 1 && Center == 1 && Right == 1){//all black [stop]
+        machine_Stop(AIN1,AIN2,BIN1,BIN2);
+        printf("Direction [%d] : Stop[all black] \n -- \n",sec);
         }
-    if(Left == 1 && Center == 1 && Right == 0){//左折
+    else if(Left == 0 && Center == 1 && Right == 0){//全速前進だ！
+        machine_Forward(AIN1,AIN2,BIN1,BIN2,duty);
+        printf("Direction [%d] : Forward \n A \n",sec);
+        }
+    else if(Left == 1 && Center == 1 && Right == 0){//左折
         Left_rotation(AIN1,AIN2,BIN1,BIN2,duty); 
-        printf("Direction%d:Left turn\n",sec);
+        printf("Direction [%d] : Left turn\n ->\n",sec);
         }
-    if(Left == 0 && Center == 1 && Right == 1){//右折
+    else if(Left == 0 && Center == 1 && Right == 1){//右折
         Right_rotation(AIN1,AIN2,BIN1,BIN2,duty); 
-        printf("Direction%d:Right turn\n",sec);
+        printf("Direction [%d] : Right turn\n <-\n",sec);
         }
-    if(Left == 1 && Center == 0 && Right == 0){//左折(急)
+    else if(Left == 1 && Center == 0 && Right == 0){//左折(急)
         Left_rotation(AIN1,AIN2,BIN1,BIN2,duty); 
-        printf("Direction%d:Left turn hurry!\n",sec);
+        printf("Direction [%d] : Left turn hurry!\n\n",sec);
         }
-    if(Left == 0 && Center == 0 && Right == 1){//右折(急)
+    else if(Left == 0 && Center == 0 && Right == 1){//右折(急)
         Right_rotation(AIN1,AIN2,BIN1,BIN2,duty); 
-        printf("Direction%d:Right turn hurry!\n",sec);
+        printf("Direction [%d] : Right turn hurry!\n\n",sec);
         }
-    else{ printf("Direction%d:error\n",sec);
+    else{ printf("Direction [%d] : error\n[x]\n",sec);
+        printf("          <Left:[%d],Center:[%d],Right[%d]>\n",Left,Center,Right);
+        printf("        sensor_Right:L432[%.3f]>\n",sensor_R*3.3F);//電圧測定
+        printf("        sensor_Left:L432[%.3f]>\n",sensor_L*3.3F);//電圧測定
+        printf("        sensor_Center:L432[%.3f]>\n",sensor_C*3.3F);//電圧測定
+    sec++;
     }
     }
     
@@ -130,27 +143,32 @@
  
     machine_Stop(AIN1,AIN2,BIN1,BIN2);
     int sec =0;
-
+      int Center = 0;
+      int Right = 0;
+      int Left =0;
     while(1) {
         float duty = 0.9f;//デューティー比90%
-        int Center = 0;
-        int Right = 0;
-        int Left =0;
-        if(sensor_C*3.3f>1.0f){//中央センサーが黒
+        int pre_C = Center;
+        int pre_R = Right;
+        int pre_L = Left;
+        if(sensor_C*3.3f<1.0f){//中央センサーが黒
             Center = 1;
         }else{Center =0;}
-        if(sensor_L*3.3f>1.0f){//左センサーが黒
+        if(sensor_L*3.3f<1.0f){//左センサーが黒
             Left = 1;
         }else{Left =0;}
-        if(sensor_R*3.3f>1.0f){//右センサーが黒
+        if(sensor_R*3.3f<1.0f){//右センサーが黒
             Right = 1;
         }else{Right =0;}
         
-        control(Left,Center,Right,sec,duty);
-        wait (5);
-        machine_Stop(AIN1,AIN2,BIN1,BIN2);
-        wait (2);
-        sec++;
+        if( Center == pre_C && Right == pre_R && Left == pre_L){
+            }
+            else{
+            control(Left,Center,Right,sec,duty);
+            }
+        //wait (5);
+        //machine_Stop(AIN1,AIN2,BIN1,BIN2);
+        //wait (2);
           
          
         
@@ -190,10 +208,5 @@
               //  printf("Direction:Back\n");
            // }
         //}
-
-        printf("sensor_Right:L432[%.3f]>\n",sensor_R*3.3F);//電圧測定
-        printf("sensor_Left:L432[%.3f]>\n",sensor_L*3.3F);//電圧測定
-        printf("sensor_Center:L432[%.3f]>\n",sensor_C*3.3F);//電圧測定
-        wait(3);
     }
 }
\ No newline at end of file