Diff: main.cpp

Revision:

5:c399920d36c4

Parent:

4:559b7eab7305

Child:

6:bded3770fbf7

--- a/main.cpp	Tue Dec 03 04:04:14 2019 +0000
+++ b/main.cpp	Tue Dec 03 04:52:36 2019 +0000
@@ -1,5 +1,5 @@
 #include "mbed.h"
-#define STR(var) #var
+
 //走行用プログラムver4(P制御）
 //11/1
 //モータードライバー＋回転数計測プログラム
@@ -119,23 +119,23 @@
     motorReverse(BIN1,BIN2,duty_basic-duty_ad);
 }
 
-/*
+
 //右急カーブ
 void Right_high_rotation(PwmOut AIN1,PwmOut AIN2,PwmOut BIN1,PwmOut BIN2,float duty) {
 
 
-    motorReverse(AIN1,AIN2,duty);
-    motorReverse(BIN1,BIN2,duty+0.2f);
+    motorStop(AIN1,AIN2);
+    motorReverse(BIN1,BIN2,duty);
 }
 
 //左急カーブ
 void Left_high_rotation(PwmOut AIN1,PwmOut AIN2,PwmOut BIN1,PwmOut BIN2,float duty) {
 
 
-    motorReverse(AIN1,AIN2,duty+0.2f);
-    motorReverse(BIN1,BIN2,duty);
+    motorReverse(AIN1,AIN2,duty);
+    motorStop(BIN1,BIN2);
 }
-*/
+
 
         
 //最終的には
@@ -179,9 +179,10 @@
     REVERSE
     };
     
-int mode = STRAIGHT;
+int mode;
+int pre_mode;
 
-void Check_reflecter(AnalogIn sensor_R, AnalogIn sensor_L,AnalogIn sensor_C, int mode){
+void Check_reflecter(AnalogIn sensor_R, AnalogIn sensor_L,AnalogIn sensor_C){
     int R_on_off =0;//左右の白黒
     int L_on_off =0;
     int C_on_off =0;  
@@ -202,43 +203,45 @@
     
     if(L_on_off==0 && C_on_off==0 && R_on_off==0)//線の外
     {
-        printf("I'm going out of line! Previous condition is %s \n",STR(mode));
+        printf("I'm going out of line! Previous condition is %d \n",pre_mode);
+        mode = pre_mode;
     }
     else if(L_on_off==1 && C_on_off==0 && R_on_off==0)//急左折
     {
         mode = SHARP_L;
-        printf("%s\n",STR(mode));
+        printf("SHARP_L\n");
     }
     else if(L_on_off==0 && C_on_off==0 && R_on_off==1)//急右折
     {
         mode = SHARP_R;
-        printf("%s\n",STR(mode));
+        printf("SHARP_R\n");
     }
     else if(L_on_off==1 && C_on_off==0 && R_on_off==1)//黒白黒、エラー、back
     {
         mode = REVERSE;
-        printf("%s\n",STR(mode));
+        printf("REVERSE\n");
     }
     else if(L_on_off==0 && C_on_off==1 && R_on_off==0)//前進
     {
         mode = STRAIGHT;
-        printf("%s\n",STR(mode));
+        printf("STRAIGHT\n");
     }
     else if(L_on_off==1 && C_on_off==1 && R_on_off==0)//左折
     {
         mode = LEFT;
-        printf("%s\n",STR(mode));
+        printf("LEFT\n");
     }
     else if(L_on_off==0 && C_on_off==1 && R_on_off==1)//右折
     {
         mode = RIGHT;
-        printf("%s\n",STR(mode));
+        printf("RIGHT\n");
     }
     else if(L_on_off==1 && C_on_off==1 && R_on_off==1)//all black（空中or十字部)よって直進
     {
         mode = STRAIGHT;
-        printf("%s\n",STR(mode));
+        printf("STRAIGHT\n");
     }
+    pre_mode = mode;
 }
         
     
@@ -259,11 +262,11 @@
     }
     else if (mode ==SHARP_L)
     {
-        Left_rotation(AIN1,AIN2,BIN1,BIN2,duty_basic,duty_ad_sharp);
+        Left_high_rotation(AIN1,AIN2,BIN1,BIN2,duty_basic);
     }
     else if (mode ==SHARP_R)
     {
-        Right_rotation(AIN1,AIN2,BIN1,BIN2,duty_basic,duty_ad_sharp);
+        Right_high_rotation(AIN1,AIN2,BIN1,BIN2,duty_basic);
     }
     else if (mode == REVERSE)
     {
@@ -306,12 +309,14 @@
     
 */
 int main() {    
-    AIN1.period(0.001);
-    AIN2.period(0.001);
-    BIN1.period(0.001);
-    BIN2.period(0.001);
+    AIN1.period(0.01);
+    AIN2.period(0.01);
+    BIN1.period(0.01);
+    BIN2.period(0.01);
     
     machine_Stop(AIN1,AIN2,BIN1,BIN2);
+    mode = STRAIGHT;
+    
       
  /*       enc_R.rise(&event_handler_R);
         enc_R.fall(&event_handler_R);
@@ -321,10 +326,10 @@
       
     while(1) {
         wait(0.01);
-        float duty_basic = 0.145f;
+        float duty_basic = 0.130f;
         float duty_ad = 0.02f;
         float duty_ad_sharp = 0.04f;
-        Check_reflecter(sensor_R,sensor_L,sensor_C,mode);
+        Check_reflecter(sensor_R,sensor_L,sensor_C);
         Conditional_branch(duty_basic,duty_ad,duty_ad_sharp);
         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