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Dependencies:   mbed HMC6352 US015 TB6612FNG2 getGPS ATP3011

main.cpp@6:1cda8471adc3, 2021-10-24 (annotated)

Committer:
user_
Date:
Sun Oct 24 13:48:07 2021 +0000
Revision:
6:1cda8471adc3
Parent:
5:56eddb7b4a9e
Child:
7:8fab045d2616
test;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
user_ 6:1cda8471adc3 1 // ライブラリ
ushiroji 0:5a1b52164bbe 2 #include "mbed.h"
ushiroji 0:5a1b52164bbe 3 #include "TB6612.h"
ushiroji 0:5a1b52164bbe 4 #include "ATP3011.h"
user_ 6:1cda8471adc3 5 #include "HMC6352.h"
user_ 6:1cda8471adc3 6 // 自作関数
user_ 6:1cda8471adc3 7 #include "AngleGet.h"
user_ 6:1cda8471adc3 8 #include "Avoid.h" // 廃止予定
ushiroji 0:5a1b52164bbe 9 #include "getGPS.h"
user_ 6:1cda8471adc3 10 #include "catchGPS.h"
ushiroji 1:f6d4f374b130 11 #include "FrontGet.h"
user_ 6:1cda8471adc3 12 #include "MotorDriver.h"
ushiroji 0:5a1b52164bbe 13
ushiroji 0:5a1b52164bbe 14
ushiroji 0:5a1b52164bbe 15 int main() {
ushiroji 0:5a1b52164bbe 16 // 変数宣言
ushiroji 0:5a1b52164bbe 17 int CP_num; // CPリストのインデックス
user_ 6:1cda8471adc3 18 int last_num; // CPリストの最後の要素のインデックス
user_ 6:1cda8471adc3 19 double GPS_x, GPS_y; // 現在地の座標
user_ 6:1cda8471adc3 20 double direction; // 次CPへの向き
user_ 6:1cda8471adc3 21 double CPs_x[100]; // = []; //CPリスト(x座標)
user_ 6:1cda8471adc3 22 double CPs_y[100]; // = []; // CPリスト(y座標)
user_ 6:1cda8471adc3 23 double next_CP_x, next_CP_y;
user_ 6:1cda8471adc3 24
user_ 6:1cda8471adc3 25 // 落下検知
user_ 6:1cda8471adc3 26
user_ 6:1cda8471adc3 27 // パラシュート分離
ushiroji 0:5a1b52164bbe 28
user_ 6:1cda8471adc3 29 // 行動フロー開始
user_ 6:1cda8471adc3 30 last_num = sizeof(CPs_x) / sizeof(double) - 1; // ゴール地点のインデックスを算出
user_ 6:1cda8471adc3 31 while (next_CP_x != CPs_x[last_num] && next_CP_y != CPs_y[last_num]) { // ゴール判定
user_ 6:1cda8471adc3 32 int i;
user_ 6:1cda8471adc3 33 for (i = CP_num; last_num; i++) {
user_ 6:1cda8471adc3 34 // 移動
user_ 6:1cda8471adc3 35 catchGPS(&GPS_x, &GPS_y);
user_ 6:1cda8471adc3 36 AngleGet();
user_ 6:1cda8471adc3 37 回転();
ushiroji 5:56eddb7b4a9e 38
user_ 6:1cda8471adc3 39 motor(1)
user_ 6:1cda8471adc3 40 while (True) {
user_ 6:1cda8471adc3 41 if (FrontGet()) {
user_ 6:1cda8471adc3 42 MotorDriver(1, 0); //停止()
user_ 6:1cda8471adc3 43 MotorDriver(4, 0.5); //回転
user_ 6:1cda8471adc3 44 continue;
user_ 6:1cda8471adc3 45 } else {
user_ 6:1cda8471adc3 46 移動();
user_ 6:1cda8471adc3 47 }
user_ 6:1cda8471adc3 48 catchGPS(&GPS_x, &GPS_y);;
user_ 6:1cda8471adc3 49 if ((next_CP_x - GPS_x)*(next_CP_x - GPS_x) + (next_CP_y = GPS_y)*(next_CP_y = GPS_y) < 5) { // CP到着判定 //試験で調整
user_ 6:1cda8471adc3 50 break;
ushiroji 3:74d0faefdd78 51 }
ushiroji 5:56eddb7b4a9e 52 }
user_ 6:1cda8471adc3 53 // 行動フロー終了
user_ 6:1cda8471adc3 54 return 0;
ushiroji 5:56eddb7b4a9e 55 }