CanSat-C 2021 / Mbed 2 deprecated loop_test

ループのテスト

Dependencies:   ATP3012 mbed TB6612FNG HMC6352 US015 getGPS

main.cpp@1:f6d4f374b130, 2021-10-23 (annotated)

Committer:
ushiroji
Date:
Sat Oct 23 03:37:21 2021 +0000
Revision:
1:f6d4f374b130
Parent:
0:5a1b52164bbe
Child:
3:74d0faefdd78
test

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ushiroji 0:5a1b52164bbe 1 #include "mbed.h"
ushiroji 0:5a1b52164bbe 2 #include "TB6612.h"
ushiroji 0:5a1b52164bbe 3 #include "ATP3011.h"
ushiroji 0:5a1b52164bbe 4 #include "getGPS.h"
ushiroji 0:5a1b52164bbe 5 #include "HMC6352.h"
ushiroji 1:f6d4f374b130 6 #include "Avoid.h"
ushiroji 1:f6d4f374b130 7 #include "FrontGet.h"
ushiroji 1:f6d4f374b130 8 #include "AngleGet.h"
ushiroji 0:5a1b52164bbe 9
ushiroji 0:5a1b52164bbe 10
ushiroji 0:5a1b52164bbe 11 int main() {
ushiroji 0:5a1b52164bbe 12 // 変数宣言
ushiroji 0:5a1b52164bbe 13 int CP_num; // CPリストのインデックス
ushiroji 0:5a1b52164bbe 14 int last_num; // CPリストの最後の要素のインデックス
ushiroji 0:5a1b52164bbe 15 double GPS_x, GPS_y; // 現在地の座標
ushiroji 0:5a1b52164bbe 16 double *pGPS_x = &GPS_x, *pGPS_y = &GPS_y;
ushiroji 0:5a1b52164bbe 17 double direction; // 次CPへの向き
ushiroji 0:5a1b52164bbe 18 double CPs_x[] = []; // CPリスト(x座標)
ushiroji 0:5a1b52164bbe 19 double CPs_y[] = []; // CPリスト(y座標)
ushiroji 0:5a1b52164bbe 20 double next_CP_x, next_CP_y;
ushiroji 0:5a1b52164bbe 21
ushiroji 0:5a1b52164bbe 22 // 行動フロー開始
ushiroji 0:5a1b52164bbe 23 last_num = sizeof(CPs_x) / sizeof(double) - 1;
ushiroji 0:5a1b52164bbe 24 while (next_CP_x != CPs_x[last_num] && next_CP_y != CPs_y[last_num]) {
ushiroji 0:5a1b52164bbe 25 int i;
ushiroji 0:5a1b52164bbe 26 for (i = CP_num, last_num, i++) {
ushiroji 0:5a1b52164bbe 27 // 移動
ushiroji 0:5a1b52164bbe 28 位置情報を取得();
ushiroji 0:5a1b52164bbe 29 方向取得();
ushiroji 0:5a1b52164bbe 30 回転();
ushiroji 0:5a1b52164bbe 31 while(i >= 5) // 5°ずれると方向転換する
ushiroji 0:5a1b52164bbe 32 {
ushiroji 0:5a1b52164bbe 33
ushiroji 0:5a1b52164bbe 34
ushiroji 0:5a1b52164bbe 35 }
ushiroji 0:5a1b52164bbe 36 motor(1)
ushiroji 0:5a1b52164bbe 37 while (True) {
ushiroji 0:5a1b52164bbe 38 前方取得();
ushiroji 0:5a1b52164bbe 39 if (/* 障害物あり */) 停止()
ushiroji 0:5a1b52164bbe 40 回避行動();
ushiroji 0:5a1b52164bbe 41 else 移動();
ushiroji 0:5a1b52164bbe 42 位置情報を取得();
ushiroji 0:5a1b52164bbe 43 if (next_CP_x = GPS_x &&next_CP_y = GPS_y) blake;
ushiroji 0:5a1b52164bbe 44 }
ushiroji 0:5a1b52164bbe 45 }
ushiroji 0:5a1b52164bbe 46 // 行動フロー終了
ushiroji 0:5a1b52164bbe 47 }