Diff: main.cpp

Revision:

2:09ea66e396c1

Parent:

1:bb85c9fe1ba3

Child:

3:efc081576a33

diff -r bb85c9fe1ba3 -r 09ea66e396c1 main.cpp
--- a/main.cpp	Thu Nov 28 07:21:36 2019 +0000
+++ b/main.cpp	Wed Dec 04 02:32:00 2019 +0000
@@ -20,6 +20,7 @@
 const float INTVAL_MOTOR     (0.25);
 
 float dist = 0.0;
+float standard_rpm = 0;
 
 void count_pg1()
 {
@@ -33,10 +34,10 @@
 
 void line_trace()
 {
-    const float fast_rpm = 1500;
-    const float standard_rpm = 1200;
-    const float slow_rpm = 750;
-    const float K = 850;
+    //const float fast_rpm = 2000;
+    //const float standard_rpm = 1200;
+    //const float slow_rpm = 1000;
+    const float K = 750;//850;
     const int   L = 0;
     const int   R = 1;
     
@@ -47,22 +48,22 @@
     
     while(1)
     {
-        if( reflectorF<=0.4 && reflectorR<=0.4 && reflectorL<= 0.4 )
+        if( /*reflectorF<=0.4 &&*/ reflectorR<=0.4 && reflectorL<= 0.4 )
         {      
             if( flag == L )
             {
-               motorL.Set_phase(1);
-               motorL.Set_target(slow_rpm);
+               motorL.Set_phase(0);//1);
+               motorL.Set_target(0);//slow_rpm);
                motorR.Set_phase(1);
-               motorR.Set_target(slow_rpm);
+               motorR.Set_target(standard_rpm);//slow_rpm);
                //printf("turnL\n");
             }
             else
             {
                motorL.Set_phase(0);
-               motorL.Set_target(slow_rpm);
-               motorR.Set_phase(0);
-               motorR.Set_target(slow_rpm);
+               motorL.Set_target(standard_rpm);//slow_rpm);
+               motorR.Set_phase(1);//0);
+               motorR.Set_target(0);//slow_rpm);
                //printf("turnR\n");
             }  
         }
@@ -120,6 +121,11 @@
     dist_count += ( v + v_pre ) * INTVAL_MOTOR/2;
     v_pre = v;
     
+    if     (dist<=2000) standard_rpm = 2000;
+    else if(dist<=2400) standard_rpm = 1200;
+    else if(dist<=4400) standard_rpm = 2000;
+    else                standard_rpm = 1000;
+    
     printf("%f\n", dist);
     
     if( dist_count >= 200 )