Diff: Loop.txt

Revision:

4:7c488c059498

Child:

6:2c9cb40ada59

diff -r 2f74791564c9 -r 7c488c059498 Loop.txt
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Loop.txt	Fri Mar 13 02:10:37 2015 +0000
@@ -0,0 +1,200 @@
+    while(0){
+         
+        //S555.calibrate(0.0006, 120.0);
+
+        //Receive();
+        //Lcd.printf("%d\n",IrNum);
+        /*白線を読んでいないか確認する*/
+        LineData = (~Line+0x00) & 0x0F; 
+        
+        /*
+        if(LineData){
+            LineIr = LineData & IrChange[IrNum];
+            LinePing = PingChange(LineData);
+            if(LineIr){
+                move(0,0,0,LastDegree);
+                while(LineIr){
+                    Led[1] = Led[2] = Led[3] = 1;  
+                    //Receive();
+                    LineData = (~Line+0x00) & 0x0F;
+                    LineIr = LineData & IrChange[IrNum];
+                    wait_ms(10);
+                }                 
+            }else if(LinePing){
+                move(0,0,0,LastDegree);
+                while(LinePing){
+                    Led[1] = Led[2] = Led[3] = 1;  
+                    //Receive();
+                    LineData = (~Line+0x00) & 0x0F;
+                    LinePing = PingChange(LineData);
+                    
+                    wait_ms(10);
+                }
+            }
+            
+            
+            Led[1] = Led[2] = Led[3] = 0;
+            
+        }
+        */
+        
+        /*
+        Power = 0;
+        Led[0] = 1;
+        Degree = 0;
+        SetC = 0.0;
+        */
+        
+        Led[3] = 1;
+        //Receive();
+        //Degree = IrDegree();
+        
+        /*if((Degree == 0)||(Degree == 180)||(IrNum == 12)){
+            (AnotherAction[IrNum/6])();
+            continue;
+        }*/
+        
+        if(IrNum == 12){
+            
+            (AnotherAction[2])();//GoHome();
+            //move(0,0,0,LastDegree);
+            wait_ms(10);
+            //continue;   
+        }
+        
+        /*
+        nDegree = wrapDegree[Degree/15];
+        Power = 20;
+        */
+        
+       // Degree = nDegree + addDegree;
+       
+       
+        if((Degree <0)||(Degree>=360)){
+            Degree = 0;
+        }
+        //fool(&Degree,&Power);
+        move(Power,Power,CompassPID,Degree);
+        
+        //wait_ms(500);
+        Led[0] =0;
+        wait_ms(10);
+        
+    }
+    
+    while(0){
+    //デモプログラム
+        //Receive();
+        //pc.printf("%d %d %d %d %d\n",IrData[0],IrData[1],IrData[2],PingData[0],PingData[1]);
+        pc.printf("%d %d %d %d\n",PingData[1],PingData[2],PingData[3],Compass);
+        
+        //pc.printf("%d\t %d\t %d\t %d\t %d\t %d\t\n",rx_data[3],rx_data[4],rx_data[5],rx_data[6],rx_data[7],rx_data[8]);
+        //pc.printf("%d\t %d\t %d\t %d\n",speed[0],speed[1],speed[2],speed[3]);
+        
+        /*for(int i=0; i<13; i++){
+            move(vrl[i],vrl[i],0,IrServo[i]);
+            wait(0.5);
+        }*/
+        
+        /*if(PingData[2]>=40){
+            move(vrl[6],vrl[6],0,IrServo[6]);
+        }*/
+        
+        /*
+        if(
+            (
+                (
+                    (
+                        (Compass / 10) + 540 - CompassDef
+                    ) % 360
+                ) - REFERENCE
+            ) >15.0
+        ){
+            
+            move(0,0,0,0);     
+            continue;
+        }
+        
+        if(PingData[2]>=40){
+            move(vrl[6],vrl[6],0,IrServo[6]);
+            continue;
+        }
+        
+        GoHome();*/
+        
+    }
+    
+    while(1){
+    //デモプログラム
+    
+    
+    //ping  continue;
+    //line  continue;
+        LineData = (~Line+0x00) & 0x0F;
+        
+        if(Line!=0){
+            if(LastPwm[0]==0){
+                
+            }
+            move(LastPwm[0]*(-1),LastPwm[3]*(-1)*(-1),0,LastDeg);
+            wait(0.5);
+            continue;
+        }
+        
+        /*
+        if(((((Compass / 10) + 540 - CompassDef) % 360) - REFERENCE) >15.0){
+            
+            move(0,0,0,0);     
+            continue;
+        }
+        
+        if(PingData[2]>=40){
+            move(vrl[6],vrl[6],0,IrServo[6]);
+            continue;
+        }
+        */
+        /*if(PingData[2]>=40){
+            
+            move(vrl[6],vrl[6],0,IrServo[6]);
+            continue;
+        }*/
+        
+        Gap=2;
+        
+        switch(IrNum){
+            case 0:
+            case 1:
+            case 2:
+            case 3:
+                moving(IrNum);
+                break;
+            case 4:
+            case 5:
+                moving(IrNum+Gap);
+                break;
+            case 6:
+                if(PingData[0]>PingData[1]) moving(IrNum+Gap);
+                else moving(IrNum-Gap);
+                
+                break;
+            case 7:
+            case 8:
+                moving(IrNum-Gap);
+                break;
+            case 9:
+            case 10:
+            case 11:
+                moving(IrNum);
+                break;
+            case 12:
+                GoHome();
+                break;
+                
+        }
+        
+        
+    }
+    
+    while(0){
+        moving(6);
+    }
\ No newline at end of file