2019NHK_teamA
/
2019_A_ver7-7
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Diff: main.cpp
- Revision:
- 12:1a22b9797004
- Parent:
- 11:5a0d6f69e751
- Child:
- 13:93321c73df60
--- a/main.cpp Wed Oct 10 11:27:09 2018 +0000
+++ b/main.cpp Wed Oct 10 12:33:40 2018 +0000
@@ -1510,46 +1510,23 @@
if(distance >= firing_minimum_distamce && distance <= firing_maximum_distance && distance != 0) {
//ライントレースの停止
trace_flag = 0;
-
//タイマスタート
timer.start();
- /*
- if(timer.read() < 1.0f) {
- cylinder_data[0] = 0x80;
- i2c.write(0x40, cylinder_data, 1);
- } else {
- line_state_pettern = stop;
- cylinder_data[0] = 0x0F;
- i2c.write(0x40, cylinder_data, 1);
- mouted_bottles++;
- }
-
- */
//発射距離に到達して1秒待って発射
if(timer.read() > 1.0f && timer.read() <= 2.5f) {
cylinder_data[0] = 5;
i2c.write(0x40, cylinder_data, 1);
mouted_bottles++;
}
- /*
- if(timer.read() > 1.0f && timer.read() <= 9.0f) {
- cylinder_data[0] = 4;
- i2c.write(0x40, cylinder_data, 1);
- //2段下段撃ったよ-
- //high_grade_fire_flag = 1;
- mouted_bottles++;
- }
- */
else if(timer.read() > 12.5f && timer.read() <= 15.0f) {
cylinder_data[0] = 0x80;
i2c.write(0x40, cylinder_data, 1);
- //line_state_pettern = right_super_slow;
}
else if(timer.read() > 15.0f && timer.read() <= 15.5f) {
line_state_pettern = right_slow;
}
- else if(timer.read() > 15.5f && timer.read() <= 18.0f) {
+ else if(timer.read() > 15.5f && timer.read() <= 17.5f) {
line_state_pettern = stop;
cylinder_data[0] = 5;
i2c.write(0x40, cylinder_data, 1);
@@ -1572,12 +1549,12 @@
else if(timer.read() > 33.0f && timer.read() <= 43.0f) {
line_state_pettern = stop;
}
- else if(timer.read() > 43.0f && timer.read() <= 43.5f) {
+ else if(timer.read() > 43.0f && timer.read() <= 45.0f) {
line_state_pettern = back_trace;
//ライントレースの復帰
- trace_flag = 1;
+ //trace_flag = 1;
//トレース方向の反転
- trace_direction = 1;
+ //trace_direction = 1;
cylinder_data[0] = 0x80;
i2c.write(0x40, cylinder_data, 1);
}
@@ -1590,17 +1567,6 @@
cylinder_data[0] = 0x80;
i2c.write(0x40, cylinder_data, 1);
-
- /*
- //発射して0.5秒たったら後進開始
- else if(timer.read() > 15.0f) {
- //トレース方向の反転
- trace_direction = 1;
-
- line_state_pettern = back_trace;
- cylinder_data[0] = 0x80;
- i2c.write(0x40, cylinder_data, 1);
- */
} else {
line_state_pettern = stop;
cylinder_data[0] = 0x80;
@@ -1761,6 +1727,8 @@
}
//リミットがONの時(1回目)
if(lateral_frag == 1) {
+ //ライントレース有効果
+ trace_flag = 1;
//ローラー回転移動中
table_fire = low_table;
firing_minimum_distamce = low_table_minimum_distance;
@@ -1789,11 +1757,35 @@
}
//リミットがONの時(2回目)
else if(lateral_frag == 3) {
+
+ //ローラー回転停止
+ table_fire = 0;
+
+ //スタートゾーンに近づいたら減速
+ if(abs(measure_pulse) < 1200) {
+ if(side == blue) {
+ line_state_pettern = left_super_slow;
+ }
+ else if(side == red) {
+ line_state_pettern = right_super_slow;
+ }
+ }
+ else if(abs(measure_pulse) < 500) {
+ line_state_pettern = stop;
+ } else {
+ if(side == blue) {
+ line_state_pettern = left_fast;
+ }
+ else if(side == red) {
+ line_state_pettern = right_fast;
+ }
+ }
+ /*
//ローラー回転移動中
table_fire = medium_table;
firing_minimum_distamce = medium_table_minimum_distance;
firing_maximum_distance = medium_table_maximum_distance;
-
+
trace_direction = 0;
back_timer2.start();
if(back_timer2.read() <= 0.8f && back_timer2.read() != 0.0f) {
@@ -1807,8 +1799,9 @@
else if(back_timer2.read() > 0.8f) {
back_timer2.reset();
lateral_frag = 4;
- }
+ }*/
}
+ /*
else if(lateral_frag == 4) {
if(limit.read() == 0) {
//上でback_timer3を使用しているためここでリセットをかける
@@ -1867,7 +1860,7 @@
line_state_pettern = right_fast;
}
}
- }
+ }*/
}
//テーブルごとに目標値を変えてローラー回転