Revision 1:f70beec382b6, committed 2021-12-03

Comitter:

ushiroji

Date:

Fri Dec 03 08:22:57 2021 +0000

Parent:

0:99f4fe3e21c6

Commit message:

first version

Changed in this revision

--- a/Function.h	Wed Dec 01 08:14:01 2021 +0000
+++ b/Function.h	Fri Dec 03 08:22:57 2021 +0000
@@ -116,7 +116,6 @@
         delta = angle - theta;
     }
     printf("delta=%f-%f=%f\r\n", angle, theta, delta); 
-    wait(2);
     return delta;
 }
 
@@ -124,13 +123,14 @@
 {
     xbee.printf("calibration start\r\n");
     compass.setCalibrationMode(0x43);
-    Move('4', 0.1);
+    Move('4', 0.15);
     xbee.printf("mortor mode:4 speed:0.1\n\r");
-    wait(6);
+    wait(180);
     Move('1', 0);
     xbee.printf("mortor mode:1 speed:0\n\r");
     compass.setCalibrationMode(0x45);
     xbee.printf("calibration end\r\n");
+/*    
     while(1) {
         if(gps.getgps()) {  //現在地取得
         GPS_x = gps.latitude;
@@ -142,7 +142,7 @@
             break;
         }
     }
-
+*/
     return;
 }
 

--- a/main.cpp	Wed Dec 01 08:14:01 2021 +0000
+++ b/main.cpp	Fri Dec 03 08:22:57 2021 +0000
@@ -3,17 +3,29 @@
 #include "Function.h"
 
 int main() {
-    while(1) {
-    Move('2', 0.3);
-        while(FrontGet()) {
-        xbee.printf("front get\n\r");
-        Move('1', 0);      //停止
-        xbee.printf("mortor mode:1 speed:0\n\r");
-        Move('4', 0.3);    //時計回り回転
-        xbee.printf("mortor mode:4 speed:0.5\n\r");
-        wait(1);
-        Move('1', 0);      //回転停止
-        xbee.printf("mortor mode:1 speed:0\n\r");
+    double angle = 0;
+    
+    Calibration();
+
+    compass.setOpMode(HMC6352_CONTINUOUS, 1, 20);
+    angle = compass.sample() / 10;
+    xbee.printf("%f\r\n", angle);
+
+        //角度調節
+         while(1) {
+            if(angle < 20 || angle > 340) {  //角度判定
+                xbee.printf("direction finish\n\r");
+                Move('1', 0);   //停止
+                wait(5);
+                compass.setOpMode(HMC6352_CONTINUOUS, 1, 20);
+                angle = compass.sample() / 10;
+                xbee.printf("%f\r\n", angle);
+                            }
+            else {
+                Move('4', 0.15);//時計回りに回転
+                compass.setOpMode(HMC6352_CONTINUOUS, 1, 20);
+                angle = compass.sample() / 10;
+                xbee.printf("%f\r\n", angle);
+            }
         }
-    }
-}
+}
\ No newline at end of file