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
Diff: main.cpp
- Revision:
- 0:6042935abd0f
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/main.cpp Wed Mar 27 04:01:47 2019 +0000 @@ -0,0 +1,295 @@ +#include "mbed.h" + +DigitalOut pulse_1(D13); +DigitalOut reset_1(D12); +AnalogIn reader_1(PA_0); +DigitalIn button(PC_13); +//AnalogIn reader_1(PB_0); +//DigitalOut pulse_2(NC); +//DigitalOut reset_2(NC); +//AnalogIn reader_2(NC); +double sensor_1[16]; +double sensor_2[16]; +int i; +int j; +int lx; +int ly; +int state_1[16]; +int state_2[16]; +double a;//migigawa ue +double b;//hidarigawa ue +double c;//migigawa shita +double d;//hidarigawa shita +double line_dist; +int fail; + +void check_line_1(); +void check_line_2(); +void doukaku(); +void distance_line(); + +int main() +{ + + printf("start\r\n"); + reset_1=1; + //reset_2=1; + pulse_1=0; + //pulse_2=0; + wait(0.1); + check_line_1(); +// check_line_2(); +//doukaku(); +} + +void check_line_1() +{ + reset_1=0; + wait(0.002); + pulse_1=1; + wait(0.002); + pulse_1=0; + reset_1=1; + for(i=0; i<16; i++) { + if(i==0)sensor_1[0]=reader_1.read()*1.5+0.05; + else if(i==1)sensor_1[1]=reader_1.read()+0.09; + else if(i==2)sensor_1[2]=reader_1.read()+0.07; + else if(i==13)sensor_1[13]=reader_1.read()+0.09; + else if(i==14)sensor_1[14]=reader_1.read()+0.09; + else if(i==15)sensor_1[15]=reader_1.read()*1.25+0.08; + else sensor_1[i]=reader_1.read(); + pulse_1=1; + wait(0.0005); + pulse_1=0; + wait(0.0005); + //printf("%d",i ); + if(i%8==7) { + printf("%f\r\n",sensor_1[i]); + } else { + printf("%f ",sensor_1[i]); + } + } +} +/* +void check_line_2() +{ + reset_2=0; + wait(0.002); + pulse_2=1; + wait(0.002); + pulse_2=0; + reset_2=1; + for(j=0; j<16; j++) { + if(j==0)sensor_2[0]=reader_2.read()*1.5+0.05; + else if(j==1)sensor_2[1]=reader_2.read()+0.09; + else if(j==2)sensor_2[2]=reader_2.read()+0.07; + else if(j==13)sensor_2[13]=reader_2.read()+0.09; + else if(j==14)sensor_2[14]=reader_2.read()+0.09; + else if(j==15)sensor_2[15]=reader_2.read()*1.25+0.08; + else sensor_2[j]=reader_2.read(); + pulse_2=1; + wait(0.0005); + pulse_2=0; + wait(0.0005); + //printf("%d",j ); + if(j%8==7) { + printf("%f\r\n",sensor_2[j]); + } else { + printf("%f ",sensor_2[j]); + } + } +} +*/ +/* +void doukaku() +{ + pulse_1=0; + reset_1=1; + while(1) { + if(!button) { + pulse_1=1; + wait(0.1); + pulse_1=0; + wait(0.1); + } + } +} +*/ +void color_adj_green() +{ + for(i=0; i<16; i++) {//閾値 + if(sensor_1[i]>0.8)state_1[i]=0;//white + else if(sensor_1[i]>0.4)state_1[i]=1;// + else if(sensor_1[i]>0.1)state_1[i]=2;//green + else state_1[i]=3; + } + for(j=0; j<16; j++) {//閾値 + if(sensor_2[j]>0.8)state_2[j]=0; + else if(sensor_2[j]>0.4)state_2[j]=1; + else if(sensor_2[j]>0.1)state_2[j]=2; + else state_2[j]=3; + } + for(i=0; i<16; i++) {//データ補正 + if(state_1[i]==1) { //境界上 + if(i!=0&&i!=15&&state_1[i+1]==0&&state_1[i-1]==0) { //エラー値の除去(white) + state_1[i]=0; + } else if(i!=0&&i!=15&&state_1[i+1]==2&&state_1[i-1]==2) { //エラー値の除去(green) + state_1[i]=2; + } + } + if(state_1[i]==3) { //エラー値 + if(i!=0&&i!=15&&state_1[i+1]==0&&state_1[i-1]==0) { //エラー値の除去(white) + state_1[i]=0; + } else if(i!=0&&i!=15&&state_1[i+1]==2&&state_1[i-1]==2) { //エラー値の除去(green) + state_1[i]=2; + } else if(i!=0&&i!=15&&state_1[i+1]==1&&state_1[i-1]==2) { //エラー値の除去(green) + state_1[i]=2; + } else if(i!=0&&i!=15&&state_1[i+1]==2&&state_1[i-1]==1) { //エラー値の除去(green) + state_1[i]=2; + } else if(i!=0&&i!=15&&state_1[i+1]==1&&state_1[i-1]==0) { //エラー値の除去(green) + state_1[i]=0; + } else if(i!=0&&i!=15&&state_1[i+1]==0&&state_1[i-1]==1) { //エラー値の除去(green) + state_1[i]=0; + } + } + } + for(j=0; j<16; j++) {//閾値 + if(sensor_2[j]>0.8)state_2[j]=0; + else if(sensor_2[j]>0.4)state_2[j]=1; + else if(sensor_2[j]>0.1)state_2[j]=2; + else state_2[j]=3; + } + for(j=0; j<16; j++) {//データ補正 + if(state_1[j]==1) { //境界上 + if(j!=0&&j!=15&&state_1[j+1]==0&&state_1[j-1]==0) { //エラー値の除去(white) + state_1[j]=0; + } else if(j!=0&&j!=15&&state_1[j+1]==2&&state_1[j-1]==2) { //エラー値の除去(green) + state_1[j]=2; + } + } + if(state_1[j]==3) { //エラー値 + if(j!=0&&j!=15&&state_1[j+1]==0&&state_1[j-1]==0) { //エラー値の除去(white) + state_1[j]=0; + } else if(j!=0&&j!=15&&state_1[j+1]==2&&state_1[j-1]==2) { //エラー値の除去(green) + state_1[j]=2; + } else if(j!=0&&j!=15&&state_1[j+1]==1&&state_1[j-1]==2) { //エラー値の除去(green) + state_1[j]=2; + } else if(j!=0&&j!=15&&state_1[j+1]==2&&state_1[j-1]==1) { //エラー値の除去(green) + state_1[j]=2; + } else if(j!=0&&j!=15&&state_1[j+1]==1&&state_1[j-1]==0) { //エラー値の除去(green) + state_1[j]=0; + } else if(j!=0&&j!=15&&state_1[j+1]==0&&state_1[j-1]==1) { //エラー値の除去(green) + state_1[j]=0; + } + } + } +} +void dist_line() +{ + a=100; + b=100; + c=100; + d=100; + fail=0; + if(state_1[i]==1) { + if(i>=0&&i<3) { //境界をaまたはcと定義 + if(a==100)a=90.25-15*i; + else if(c==100)c=90.25-15*i; + else fail=1; //エラー回の除去 + } + if(i>=3&&i<8) { + if(a==100)a=76.5-10*i; + else if(c==100)c=76.5-10*i; + else fail=1; + } + if(i>=8&&i<13) { + if(a==100)a=73.5-10*i; + else if(c==100)c=73.5-10*i; + else fail=1; + } + if(i>=13&&i<16) { + if(a==100)a=133.75-15*i; + else if(c==100)c=133.75-15*i; + else fail=1; + } + } else if(state_1[i]==0) { //白線上 + if(i!=0&&state_1[i-1]==2) { + if(i>=0&&i<3) { //境界をaまたはcと定義 + if(a==100)a=90.25-15*i; + else if(c==100)c=90.25-15*i; + else fail=1; //エラー回の除去 + } + if(i>=3&&i<8) { + if(a==100)a=76.5-10*i; + else if(c==100)c=76.5-10*i; + else fail=1; + } + if(i>=8&&i<13) { + if(a==100)a=73.5-10*i; + else if(c==100)c=73.5-10*i; + else fail=1; + } + if(i>=13&&i<16) { + if(a==100)a=133.75-15*i; + else if(c==100)c=133.75-15*i; + else fail=1; + } + } + + if(state_1[j]==1) { + if(j>=0&&j<3) { //境界をbまたはdと定義 + if(b==100)b=90.25-15*j; + else if(d==100)d=90.25-15*j; + else fail=1; //エラー回の除去 + } + if(j>=3&&j<8) { + if(b==100)b=76.5-10*j; + else if(d==100)d=76.5-10*j; + else fail=1; + } + if(j>=8&&j<13) { + if(b==100)b=73.5-10*j; + else if(d==100)d=73.5-10*j; + else fail=1; + } + if(j>=13&&j<16) { + if(b==100)b=133.75-15*j; + else if(d==100)d=133.75-15*j; + else fail=1; + } + } else if(state_1[j]==0) { //白線上 + if(j!=0&&state_1[j-1]==2) { + if(j>=0&&j<3) { //境界をbまたはdと定義 + if(b==100)b=90.25-15*j; + else if(d==100)d=90.25-15*j; + else fail=1; //エラー回の除去 + } + if(j>=3&&j<8) { + if(b==100)b=76.5-10*j; + else if(d==100)d=76.5-10*j; + else fail=1; + } + if(j>=8&&j<13) { + if(b==100)b=73.5-10*j; + else if(d==100)d=73.5-10*j; + else fail=1; + } + if(j>=13&&j<16) { + if(b==100)b=133.75-15*j; + else if(d==100)d=133.75-15*j; + else fail=1; + } + } + } + } +} +void calc_line() +{ + if(fail!=0) { + + } else { + double theta; + theta=atan((a-b+c-d)*ly/2); + line_dist=(a+b+c+d)*cos(theta)/4; + } +} \ No newline at end of file