ラインセンサのプログラム 機体中心からライン中心までの距離を返します 16門が2列 「理論上」動く(未検証)
Dependencies: mbed
main.cpp@0:6042935abd0f, 2019-03-27 (annotated)
- Committer:
- aoikoizumi
- Date:
- Wed Mar 27 04:01:47 2019 +0000
- Revision:
- 0:6042935abd0f
A
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
aoikoizumi | 0:6042935abd0f | 1 | #include "mbed.h" |
aoikoizumi | 0:6042935abd0f | 2 | |
aoikoizumi | 0:6042935abd0f | 3 | DigitalOut pulse_1(D13); |
aoikoizumi | 0:6042935abd0f | 4 | DigitalOut reset_1(D12); |
aoikoizumi | 0:6042935abd0f | 5 | AnalogIn reader_1(PA_0); |
aoikoizumi | 0:6042935abd0f | 6 | DigitalIn button(PC_13); |
aoikoizumi | 0:6042935abd0f | 7 | //AnalogIn reader_1(PB_0); |
aoikoizumi | 0:6042935abd0f | 8 | //DigitalOut pulse_2(NC); |
aoikoizumi | 0:6042935abd0f | 9 | //DigitalOut reset_2(NC); |
aoikoizumi | 0:6042935abd0f | 10 | //AnalogIn reader_2(NC); |
aoikoizumi | 0:6042935abd0f | 11 | double sensor_1[16]; |
aoikoizumi | 0:6042935abd0f | 12 | double sensor_2[16]; |
aoikoizumi | 0:6042935abd0f | 13 | int i; |
aoikoizumi | 0:6042935abd0f | 14 | int j; |
aoikoizumi | 0:6042935abd0f | 15 | int lx; |
aoikoizumi | 0:6042935abd0f | 16 | int ly; |
aoikoizumi | 0:6042935abd0f | 17 | int state_1[16]; |
aoikoizumi | 0:6042935abd0f | 18 | int state_2[16]; |
aoikoizumi | 0:6042935abd0f | 19 | double a;//migigawa ue |
aoikoizumi | 0:6042935abd0f | 20 | double b;//hidarigawa ue |
aoikoizumi | 0:6042935abd0f | 21 | double c;//migigawa shita |
aoikoizumi | 0:6042935abd0f | 22 | double d;//hidarigawa shita |
aoikoizumi | 0:6042935abd0f | 23 | double line_dist; |
aoikoizumi | 0:6042935abd0f | 24 | int fail; |
aoikoizumi | 0:6042935abd0f | 25 | |
aoikoizumi | 0:6042935abd0f | 26 | void check_line_1(); |
aoikoizumi | 0:6042935abd0f | 27 | void check_line_2(); |
aoikoizumi | 0:6042935abd0f | 28 | void doukaku(); |
aoikoizumi | 0:6042935abd0f | 29 | void distance_line(); |
aoikoizumi | 0:6042935abd0f | 30 | |
aoikoizumi | 0:6042935abd0f | 31 | int main() |
aoikoizumi | 0:6042935abd0f | 32 | { |
aoikoizumi | 0:6042935abd0f | 33 | |
aoikoizumi | 0:6042935abd0f | 34 | printf("start\r\n"); |
aoikoizumi | 0:6042935abd0f | 35 | reset_1=1; |
aoikoizumi | 0:6042935abd0f | 36 | //reset_2=1; |
aoikoizumi | 0:6042935abd0f | 37 | pulse_1=0; |
aoikoizumi | 0:6042935abd0f | 38 | //pulse_2=0; |
aoikoizumi | 0:6042935abd0f | 39 | wait(0.1); |
aoikoizumi | 0:6042935abd0f | 40 | check_line_1(); |
aoikoizumi | 0:6042935abd0f | 41 | // check_line_2(); |
aoikoizumi | 0:6042935abd0f | 42 | //doukaku(); |
aoikoizumi | 0:6042935abd0f | 43 | } |
aoikoizumi | 0:6042935abd0f | 44 | |
aoikoizumi | 0:6042935abd0f | 45 | void check_line_1() |
aoikoizumi | 0:6042935abd0f | 46 | { |
aoikoizumi | 0:6042935abd0f | 47 | reset_1=0; |
aoikoizumi | 0:6042935abd0f | 48 | wait(0.002); |
aoikoizumi | 0:6042935abd0f | 49 | pulse_1=1; |
aoikoizumi | 0:6042935abd0f | 50 | wait(0.002); |
aoikoizumi | 0:6042935abd0f | 51 | pulse_1=0; |
aoikoizumi | 0:6042935abd0f | 52 | reset_1=1; |
aoikoizumi | 0:6042935abd0f | 53 | for(i=0; i<16; i++) { |
aoikoizumi | 0:6042935abd0f | 54 | if(i==0)sensor_1[0]=reader_1.read()*1.5+0.05; |
aoikoizumi | 0:6042935abd0f | 55 | else if(i==1)sensor_1[1]=reader_1.read()+0.09; |
aoikoizumi | 0:6042935abd0f | 56 | else if(i==2)sensor_1[2]=reader_1.read()+0.07; |
aoikoizumi | 0:6042935abd0f | 57 | else if(i==13)sensor_1[13]=reader_1.read()+0.09; |
aoikoizumi | 0:6042935abd0f | 58 | else if(i==14)sensor_1[14]=reader_1.read()+0.09; |
aoikoizumi | 0:6042935abd0f | 59 | else if(i==15)sensor_1[15]=reader_1.read()*1.25+0.08; |
aoikoizumi | 0:6042935abd0f | 60 | else sensor_1[i]=reader_1.read(); |
aoikoizumi | 0:6042935abd0f | 61 | pulse_1=1; |
aoikoizumi | 0:6042935abd0f | 62 | wait(0.0005); |
aoikoizumi | 0:6042935abd0f | 63 | pulse_1=0; |
aoikoizumi | 0:6042935abd0f | 64 | wait(0.0005); |
aoikoizumi | 0:6042935abd0f | 65 | //printf("%d",i ); |
aoikoizumi | 0:6042935abd0f | 66 | if(i%8==7) { |
aoikoizumi | 0:6042935abd0f | 67 | printf("%f\r\n",sensor_1[i]); |
aoikoizumi | 0:6042935abd0f | 68 | } else { |
aoikoizumi | 0:6042935abd0f | 69 | printf("%f ",sensor_1[i]); |
aoikoizumi | 0:6042935abd0f | 70 | } |
aoikoizumi | 0:6042935abd0f | 71 | } |
aoikoizumi | 0:6042935abd0f | 72 | } |
aoikoizumi | 0:6042935abd0f | 73 | /* |
aoikoizumi | 0:6042935abd0f | 74 | void check_line_2() |
aoikoizumi | 0:6042935abd0f | 75 | { |
aoikoizumi | 0:6042935abd0f | 76 | reset_2=0; |
aoikoizumi | 0:6042935abd0f | 77 | wait(0.002); |
aoikoizumi | 0:6042935abd0f | 78 | pulse_2=1; |
aoikoizumi | 0:6042935abd0f | 79 | wait(0.002); |
aoikoizumi | 0:6042935abd0f | 80 | pulse_2=0; |
aoikoizumi | 0:6042935abd0f | 81 | reset_2=1; |
aoikoizumi | 0:6042935abd0f | 82 | for(j=0; j<16; j++) { |
aoikoizumi | 0:6042935abd0f | 83 | if(j==0)sensor_2[0]=reader_2.read()*1.5+0.05; |
aoikoizumi | 0:6042935abd0f | 84 | else if(j==1)sensor_2[1]=reader_2.read()+0.09; |
aoikoizumi | 0:6042935abd0f | 85 | else if(j==2)sensor_2[2]=reader_2.read()+0.07; |
aoikoizumi | 0:6042935abd0f | 86 | else if(j==13)sensor_2[13]=reader_2.read()+0.09; |
aoikoizumi | 0:6042935abd0f | 87 | else if(j==14)sensor_2[14]=reader_2.read()+0.09; |
aoikoizumi | 0:6042935abd0f | 88 | else if(j==15)sensor_2[15]=reader_2.read()*1.25+0.08; |
aoikoizumi | 0:6042935abd0f | 89 | else sensor_2[j]=reader_2.read(); |
aoikoizumi | 0:6042935abd0f | 90 | pulse_2=1; |
aoikoizumi | 0:6042935abd0f | 91 | wait(0.0005); |
aoikoizumi | 0:6042935abd0f | 92 | pulse_2=0; |
aoikoizumi | 0:6042935abd0f | 93 | wait(0.0005); |
aoikoizumi | 0:6042935abd0f | 94 | //printf("%d",j ); |
aoikoizumi | 0:6042935abd0f | 95 | if(j%8==7) { |
aoikoizumi | 0:6042935abd0f | 96 | printf("%f\r\n",sensor_2[j]); |
aoikoizumi | 0:6042935abd0f | 97 | } else { |
aoikoizumi | 0:6042935abd0f | 98 | printf("%f ",sensor_2[j]); |
aoikoizumi | 0:6042935abd0f | 99 | } |
aoikoizumi | 0:6042935abd0f | 100 | } |
aoikoizumi | 0:6042935abd0f | 101 | } |
aoikoizumi | 0:6042935abd0f | 102 | */ |
aoikoizumi | 0:6042935abd0f | 103 | /* |
aoikoizumi | 0:6042935abd0f | 104 | void doukaku() |
aoikoizumi | 0:6042935abd0f | 105 | { |
aoikoizumi | 0:6042935abd0f | 106 | pulse_1=0; |
aoikoizumi | 0:6042935abd0f | 107 | reset_1=1; |
aoikoizumi | 0:6042935abd0f | 108 | while(1) { |
aoikoizumi | 0:6042935abd0f | 109 | if(!button) { |
aoikoizumi | 0:6042935abd0f | 110 | pulse_1=1; |
aoikoizumi | 0:6042935abd0f | 111 | wait(0.1); |
aoikoizumi | 0:6042935abd0f | 112 | pulse_1=0; |
aoikoizumi | 0:6042935abd0f | 113 | wait(0.1); |
aoikoizumi | 0:6042935abd0f | 114 | } |
aoikoizumi | 0:6042935abd0f | 115 | } |
aoikoizumi | 0:6042935abd0f | 116 | } |
aoikoizumi | 0:6042935abd0f | 117 | */ |
aoikoizumi | 0:6042935abd0f | 118 | void color_adj_green() |
aoikoizumi | 0:6042935abd0f | 119 | { |
aoikoizumi | 0:6042935abd0f | 120 | for(i=0; i<16; i++) {//閾値 |
aoikoizumi | 0:6042935abd0f | 121 | if(sensor_1[i]>0.8)state_1[i]=0;//white |
aoikoizumi | 0:6042935abd0f | 122 | else if(sensor_1[i]>0.4)state_1[i]=1;// |
aoikoizumi | 0:6042935abd0f | 123 | else if(sensor_1[i]>0.1)state_1[i]=2;//green |
aoikoizumi | 0:6042935abd0f | 124 | else state_1[i]=3; |
aoikoizumi | 0:6042935abd0f | 125 | } |
aoikoizumi | 0:6042935abd0f | 126 | for(j=0; j<16; j++) {//閾値 |
aoikoizumi | 0:6042935abd0f | 127 | if(sensor_2[j]>0.8)state_2[j]=0; |
aoikoizumi | 0:6042935abd0f | 128 | else if(sensor_2[j]>0.4)state_2[j]=1; |
aoikoizumi | 0:6042935abd0f | 129 | else if(sensor_2[j]>0.1)state_2[j]=2; |
aoikoizumi | 0:6042935abd0f | 130 | else state_2[j]=3; |
aoikoizumi | 0:6042935abd0f | 131 | } |
aoikoizumi | 0:6042935abd0f | 132 | for(i=0; i<16; i++) {//データ補正 |
aoikoizumi | 0:6042935abd0f | 133 | if(state_1[i]==1) { //境界上 |
aoikoizumi | 0:6042935abd0f | 134 | if(i!=0&&i!=15&&state_1[i+1]==0&&state_1[i-1]==0) { //エラー値の除去(white) |
aoikoizumi | 0:6042935abd0f | 135 | state_1[i]=0; |
aoikoizumi | 0:6042935abd0f | 136 | } else if(i!=0&&i!=15&&state_1[i+1]==2&&state_1[i-1]==2) { //エラー値の除去(green) |
aoikoizumi | 0:6042935abd0f | 137 | state_1[i]=2; |
aoikoizumi | 0:6042935abd0f | 138 | } |
aoikoizumi | 0:6042935abd0f | 139 | } |
aoikoizumi | 0:6042935abd0f | 140 | if(state_1[i]==3) { //エラー値 |
aoikoizumi | 0:6042935abd0f | 141 | if(i!=0&&i!=15&&state_1[i+1]==0&&state_1[i-1]==0) { //エラー値の除去(white) |
aoikoizumi | 0:6042935abd0f | 142 | state_1[i]=0; |
aoikoizumi | 0:6042935abd0f | 143 | } else if(i!=0&&i!=15&&state_1[i+1]==2&&state_1[i-1]==2) { //エラー値の除去(green) |
aoikoizumi | 0:6042935abd0f | 144 | state_1[i]=2; |
aoikoizumi | 0:6042935abd0f | 145 | } else if(i!=0&&i!=15&&state_1[i+1]==1&&state_1[i-1]==2) { //エラー値の除去(green) |
aoikoizumi | 0:6042935abd0f | 146 | state_1[i]=2; |
aoikoizumi | 0:6042935abd0f | 147 | } else if(i!=0&&i!=15&&state_1[i+1]==2&&state_1[i-1]==1) { //エラー値の除去(green) |
aoikoizumi | 0:6042935abd0f | 148 | state_1[i]=2; |
aoikoizumi | 0:6042935abd0f | 149 | } else if(i!=0&&i!=15&&state_1[i+1]==1&&state_1[i-1]==0) { //エラー値の除去(green) |
aoikoizumi | 0:6042935abd0f | 150 | state_1[i]=0; |
aoikoizumi | 0:6042935abd0f | 151 | } else if(i!=0&&i!=15&&state_1[i+1]==0&&state_1[i-1]==1) { //エラー値の除去(green) |
aoikoizumi | 0:6042935abd0f | 152 | state_1[i]=0; |
aoikoizumi | 0:6042935abd0f | 153 | } |
aoikoizumi | 0:6042935abd0f | 154 | } |
aoikoizumi | 0:6042935abd0f | 155 | } |
aoikoizumi | 0:6042935abd0f | 156 | for(j=0; j<16; j++) {//閾値 |
aoikoizumi | 0:6042935abd0f | 157 | if(sensor_2[j]>0.8)state_2[j]=0; |
aoikoizumi | 0:6042935abd0f | 158 | else if(sensor_2[j]>0.4)state_2[j]=1; |
aoikoizumi | 0:6042935abd0f | 159 | else if(sensor_2[j]>0.1)state_2[j]=2; |
aoikoizumi | 0:6042935abd0f | 160 | else state_2[j]=3; |
aoikoizumi | 0:6042935abd0f | 161 | } |
aoikoizumi | 0:6042935abd0f | 162 | for(j=0; j<16; j++) {//データ補正 |
aoikoizumi | 0:6042935abd0f | 163 | if(state_1[j]==1) { //境界上 |
aoikoizumi | 0:6042935abd0f | 164 | if(j!=0&&j!=15&&state_1[j+1]==0&&state_1[j-1]==0) { //エラー値の除去(white) |
aoikoizumi | 0:6042935abd0f | 165 | state_1[j]=0; |
aoikoizumi | 0:6042935abd0f | 166 | } else if(j!=0&&j!=15&&state_1[j+1]==2&&state_1[j-1]==2) { //エラー値の除去(green) |
aoikoizumi | 0:6042935abd0f | 167 | state_1[j]=2; |
aoikoizumi | 0:6042935abd0f | 168 | } |
aoikoizumi | 0:6042935abd0f | 169 | } |
aoikoizumi | 0:6042935abd0f | 170 | if(state_1[j]==3) { //エラー値 |
aoikoizumi | 0:6042935abd0f | 171 | if(j!=0&&j!=15&&state_1[j+1]==0&&state_1[j-1]==0) { //エラー値の除去(white) |
aoikoizumi | 0:6042935abd0f | 172 | state_1[j]=0; |
aoikoizumi | 0:6042935abd0f | 173 | } else if(j!=0&&j!=15&&state_1[j+1]==2&&state_1[j-1]==2) { //エラー値の除去(green) |
aoikoizumi | 0:6042935abd0f | 174 | state_1[j]=2; |
aoikoizumi | 0:6042935abd0f | 175 | } else if(j!=0&&j!=15&&state_1[j+1]==1&&state_1[j-1]==2) { //エラー値の除去(green) |
aoikoizumi | 0:6042935abd0f | 176 | state_1[j]=2; |
aoikoizumi | 0:6042935abd0f | 177 | } else if(j!=0&&j!=15&&state_1[j+1]==2&&state_1[j-1]==1) { //エラー値の除去(green) |
aoikoizumi | 0:6042935abd0f | 178 | state_1[j]=2; |
aoikoizumi | 0:6042935abd0f | 179 | } else if(j!=0&&j!=15&&state_1[j+1]==1&&state_1[j-1]==0) { //エラー値の除去(green) |
aoikoizumi | 0:6042935abd0f | 180 | state_1[j]=0; |
aoikoizumi | 0:6042935abd0f | 181 | } else if(j!=0&&j!=15&&state_1[j+1]==0&&state_1[j-1]==1) { //エラー値の除去(green) |
aoikoizumi | 0:6042935abd0f | 182 | state_1[j]=0; |
aoikoizumi | 0:6042935abd0f | 183 | } |
aoikoizumi | 0:6042935abd0f | 184 | } |
aoikoizumi | 0:6042935abd0f | 185 | } |
aoikoizumi | 0:6042935abd0f | 186 | } |
aoikoizumi | 0:6042935abd0f | 187 | void dist_line() |
aoikoizumi | 0:6042935abd0f | 188 | { |
aoikoizumi | 0:6042935abd0f | 189 | a=100; |
aoikoizumi | 0:6042935abd0f | 190 | b=100; |
aoikoizumi | 0:6042935abd0f | 191 | c=100; |
aoikoizumi | 0:6042935abd0f | 192 | d=100; |
aoikoizumi | 0:6042935abd0f | 193 | fail=0; |
aoikoizumi | 0:6042935abd0f | 194 | if(state_1[i]==1) { |
aoikoizumi | 0:6042935abd0f | 195 | if(i>=0&&i<3) { //境界をaまたはcと定義 |
aoikoizumi | 0:6042935abd0f | 196 | if(a==100)a=90.25-15*i; |
aoikoizumi | 0:6042935abd0f | 197 | else if(c==100)c=90.25-15*i; |
aoikoizumi | 0:6042935abd0f | 198 | else fail=1; //エラー回の除去 |
aoikoizumi | 0:6042935abd0f | 199 | } |
aoikoizumi | 0:6042935abd0f | 200 | if(i>=3&&i<8) { |
aoikoizumi | 0:6042935abd0f | 201 | if(a==100)a=76.5-10*i; |
aoikoizumi | 0:6042935abd0f | 202 | else if(c==100)c=76.5-10*i; |
aoikoizumi | 0:6042935abd0f | 203 | else fail=1; |
aoikoizumi | 0:6042935abd0f | 204 | } |
aoikoizumi | 0:6042935abd0f | 205 | if(i>=8&&i<13) { |
aoikoizumi | 0:6042935abd0f | 206 | if(a==100)a=73.5-10*i; |
aoikoizumi | 0:6042935abd0f | 207 | else if(c==100)c=73.5-10*i; |
aoikoizumi | 0:6042935abd0f | 208 | else fail=1; |
aoikoizumi | 0:6042935abd0f | 209 | } |
aoikoizumi | 0:6042935abd0f | 210 | if(i>=13&&i<16) { |
aoikoizumi | 0:6042935abd0f | 211 | if(a==100)a=133.75-15*i; |
aoikoizumi | 0:6042935abd0f | 212 | else if(c==100)c=133.75-15*i; |
aoikoizumi | 0:6042935abd0f | 213 | else fail=1; |
aoikoizumi | 0:6042935abd0f | 214 | } |
aoikoizumi | 0:6042935abd0f | 215 | } else if(state_1[i]==0) { //白線上 |
aoikoizumi | 0:6042935abd0f | 216 | if(i!=0&&state_1[i-1]==2) { |
aoikoizumi | 0:6042935abd0f | 217 | if(i>=0&&i<3) { //境界をaまたはcと定義 |
aoikoizumi | 0:6042935abd0f | 218 | if(a==100)a=90.25-15*i; |
aoikoizumi | 0:6042935abd0f | 219 | else if(c==100)c=90.25-15*i; |
aoikoizumi | 0:6042935abd0f | 220 | else fail=1; //エラー回の除去 |
aoikoizumi | 0:6042935abd0f | 221 | } |
aoikoizumi | 0:6042935abd0f | 222 | if(i>=3&&i<8) { |
aoikoizumi | 0:6042935abd0f | 223 | if(a==100)a=76.5-10*i; |
aoikoizumi | 0:6042935abd0f | 224 | else if(c==100)c=76.5-10*i; |
aoikoizumi | 0:6042935abd0f | 225 | else fail=1; |
aoikoizumi | 0:6042935abd0f | 226 | } |
aoikoizumi | 0:6042935abd0f | 227 | if(i>=8&&i<13) { |
aoikoizumi | 0:6042935abd0f | 228 | if(a==100)a=73.5-10*i; |
aoikoizumi | 0:6042935abd0f | 229 | else if(c==100)c=73.5-10*i; |
aoikoizumi | 0:6042935abd0f | 230 | else fail=1; |
aoikoizumi | 0:6042935abd0f | 231 | } |
aoikoizumi | 0:6042935abd0f | 232 | if(i>=13&&i<16) { |
aoikoizumi | 0:6042935abd0f | 233 | if(a==100)a=133.75-15*i; |
aoikoizumi | 0:6042935abd0f | 234 | else if(c==100)c=133.75-15*i; |
aoikoizumi | 0:6042935abd0f | 235 | else fail=1; |
aoikoizumi | 0:6042935abd0f | 236 | } |
aoikoizumi | 0:6042935abd0f | 237 | } |
aoikoizumi | 0:6042935abd0f | 238 | |
aoikoizumi | 0:6042935abd0f | 239 | if(state_1[j]==1) { |
aoikoizumi | 0:6042935abd0f | 240 | if(j>=0&&j<3) { //境界をbまたはdと定義 |
aoikoizumi | 0:6042935abd0f | 241 | if(b==100)b=90.25-15*j; |
aoikoizumi | 0:6042935abd0f | 242 | else if(d==100)d=90.25-15*j; |
aoikoizumi | 0:6042935abd0f | 243 | else fail=1; //エラー回の除去 |
aoikoizumi | 0:6042935abd0f | 244 | } |
aoikoizumi | 0:6042935abd0f | 245 | if(j>=3&&j<8) { |
aoikoizumi | 0:6042935abd0f | 246 | if(b==100)b=76.5-10*j; |
aoikoizumi | 0:6042935abd0f | 247 | else if(d==100)d=76.5-10*j; |
aoikoizumi | 0:6042935abd0f | 248 | else fail=1; |
aoikoizumi | 0:6042935abd0f | 249 | } |
aoikoizumi | 0:6042935abd0f | 250 | if(j>=8&&j<13) { |
aoikoizumi | 0:6042935abd0f | 251 | if(b==100)b=73.5-10*j; |
aoikoizumi | 0:6042935abd0f | 252 | else if(d==100)d=73.5-10*j; |
aoikoizumi | 0:6042935abd0f | 253 | else fail=1; |
aoikoizumi | 0:6042935abd0f | 254 | } |
aoikoizumi | 0:6042935abd0f | 255 | if(j>=13&&j<16) { |
aoikoizumi | 0:6042935abd0f | 256 | if(b==100)b=133.75-15*j; |
aoikoizumi | 0:6042935abd0f | 257 | else if(d==100)d=133.75-15*j; |
aoikoizumi | 0:6042935abd0f | 258 | else fail=1; |
aoikoizumi | 0:6042935abd0f | 259 | } |
aoikoizumi | 0:6042935abd0f | 260 | } else if(state_1[j]==0) { //白線上 |
aoikoizumi | 0:6042935abd0f | 261 | if(j!=0&&state_1[j-1]==2) { |
aoikoizumi | 0:6042935abd0f | 262 | if(j>=0&&j<3) { //境界をbまたはdと定義 |
aoikoizumi | 0:6042935abd0f | 263 | if(b==100)b=90.25-15*j; |
aoikoizumi | 0:6042935abd0f | 264 | else if(d==100)d=90.25-15*j; |
aoikoizumi | 0:6042935abd0f | 265 | else fail=1; //エラー回の除去 |
aoikoizumi | 0:6042935abd0f | 266 | } |
aoikoizumi | 0:6042935abd0f | 267 | if(j>=3&&j<8) { |
aoikoizumi | 0:6042935abd0f | 268 | if(b==100)b=76.5-10*j; |
aoikoizumi | 0:6042935abd0f | 269 | else if(d==100)d=76.5-10*j; |
aoikoizumi | 0:6042935abd0f | 270 | else fail=1; |
aoikoizumi | 0:6042935abd0f | 271 | } |
aoikoizumi | 0:6042935abd0f | 272 | if(j>=8&&j<13) { |
aoikoizumi | 0:6042935abd0f | 273 | if(b==100)b=73.5-10*j; |
aoikoizumi | 0:6042935abd0f | 274 | else if(d==100)d=73.5-10*j; |
aoikoizumi | 0:6042935abd0f | 275 | else fail=1; |
aoikoizumi | 0:6042935abd0f | 276 | } |
aoikoizumi | 0:6042935abd0f | 277 | if(j>=13&&j<16) { |
aoikoizumi | 0:6042935abd0f | 278 | if(b==100)b=133.75-15*j; |
aoikoizumi | 0:6042935abd0f | 279 | else if(d==100)d=133.75-15*j; |
aoikoizumi | 0:6042935abd0f | 280 | else fail=1; |
aoikoizumi | 0:6042935abd0f | 281 | } |
aoikoizumi | 0:6042935abd0f | 282 | } |
aoikoizumi | 0:6042935abd0f | 283 | } |
aoikoizumi | 0:6042935abd0f | 284 | } |
aoikoizumi | 0:6042935abd0f | 285 | } |
aoikoizumi | 0:6042935abd0f | 286 | void calc_line() |
aoikoizumi | 0:6042935abd0f | 287 | { |
aoikoizumi | 0:6042935abd0f | 288 | if(fail!=0) { |
aoikoizumi | 0:6042935abd0f | 289 | |
aoikoizumi | 0:6042935abd0f | 290 | } else { |
aoikoizumi | 0:6042935abd0f | 291 | double theta; |
aoikoizumi | 0:6042935abd0f | 292 | theta=atan((a-b+c-d)*ly/2); |
aoikoizumi | 0:6042935abd0f | 293 | line_dist=(a+b+c+d)*cos(theta)/4; |
aoikoizumi | 0:6042935abd0f | 294 | } |
aoikoizumi | 0:6042935abd0f | 295 | } |