CanSat-C 2021 / Mbed 2 deprecated MoveTest-Function_ver

移動系の統合試験用プログラムです。

Dependencies:   mbed TB6612FNG HMC6352 getGPS

main.cpp@5:9f9cf3912fda, 2021-10-27 (annotated)

Committer:
ushiroji
Date:
Wed Oct 27 12:26:48 2021 +0000
Revision:
5:9f9cf3912fda
Parent:
4:135619de1646 
test

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ushiroji 0:4c10d798d1bb 1 #include "mbed.h"
ushiroji 2:0c73afb20925 2 #include "Function.h"
ushiroji 2:0c73afb20925 3 #include "Move.h"
ushiroji 0:4c10d798d1bb 4
ushiroji 4:135619de1646 5 double direction;
ushiroji 0:4c10d798d1bb 6
ushiroji 4:135619de1646 7 int main() {
ushiroji 4:135619de1646 8 //catchGPS();
ushiroji 4:135619de1646 9 pc.printf("start");
ushiroji 4:135619de1646 10 Move('2', 1);
ushiroji 4:135619de1646 11
ushiroji 2:0c73afb20925 12 while (true) {
ushiroji 4:135619de1646 13 direction = AngleGet();
ushiroji 4:135619de1646 14 pc.printf("direction=%f", direction);
ushiroji 5:9f9cf3912fda 15 while(1) {
ushiroji 5:9f9cf3912fda 16 if(direction < 5 || direction > 355) { //角度判定
ushiroji 5:9f9cf3912fda 17 Move('2', 1);
ushiroji 5:9f9cf3912fda 18 break;
ushiroji 5:9f9cf3912fda 19 }
ushiroji 5:9f9cf3912fda 20 else {
ushiroji 5:9f9cf3912fda 21 Move('1', 0);
ushiroji 5:9f9cf3912fda 22 Move('4', 0.5);
ushiroji 5:9f9cf3912fda 23 }
ushiroji 4:135619de1646 24 }
ushiroji 4:135619de1646 25
ushiroji 4:135619de1646 26 if (FrontGet()) { //障害物判定
ushiroji 4:135619de1646 27 Move('1', 0); //停止()
ushiroji 4:135619de1646 28 Move('4', 0.5); //回転
ushiroji 2:0c73afb20925 29 continue;
ushiroji 2:0c73afb20925 30 }
ushiroji 2:0c73afb20925 31 else {
ushiroji 4:135619de1646 32 Move('2', 1); //直進
ushiroji 4:135619de1646 33 wait(2);
ushiroji 2:0c73afb20925 34 }
ushiroji 4:135619de1646 35 /*
ushiroji 4:135619de1646 36 catchGPS(); //座標判定
ushiroji 2:0c73afb20925 37 if ((next_CP_x - GPS_x)*(next_CP_x - GPS_x) + (next_CP_y = GPS_y)*(next_CP_y = GPS_y) < 5) { //試験で調整
ushiroji 2:0c73afb20925 38 break;
ushiroji 2:0c73afb20925 39 }
ushiroji 4:135619de1646 40 */
ushiroji 2:0c73afb20925 41 }
ushiroji 0:4c10d798d1bb 42 }