Diff: main.cpp

Revision:

12:1a22b9797004

Parent:

11:5a0d6f69e751

Child:

13:93321c73df60

--- a/main.cpp	Wed Oct 10 11:27:09 2018 +0000
+++ b/main.cpp	Wed Oct 10 12:33:40 2018 +0000
@@ -1510,46 +1510,23 @@
                     if(distance >= firing_minimum_distamce && distance <= firing_maximum_distance && distance != 0) {
                         //ライントレースの停止
                         trace_flag = 0;
-                        
                         //タイマスタート
                         timer.start();
 
-                        /*
-                        if(timer.read() < 1.0f) {
-                            cylinder_data[0] = 0x80;
-                            i2c.write(0x40, cylinder_data, 1);
-                        } else {
-                            line_state_pettern = stop;
-                            cylinder_data[0] = 0x0F;
-                            i2c.write(0x40, cylinder_data, 1);
-                            mouted_bottles++;
-                        }
-
-                        */
                         //発射距離に到達して1秒待って発射
                         if(timer.read() > 1.0f && timer.read() <= 2.5f) {
                             cylinder_data[0] = 5;
                             i2c.write(0x40, cylinder_data, 1);
                             mouted_bottles++;
                         }
-                        /*
-                        if(timer.read() > 1.0f && timer.read() <= 9.0f) {
-                            cylinder_data[0] = 4;
-                            i2c.write(0x40, cylinder_data, 1);
-                            //2段下段撃ったよ-
-                            //high_grade_fire_flag = 1;
-                            mouted_bottles++;
-                        }
-                        */
                         else if(timer.read() > 12.5f && timer.read() <= 15.0f) {
                             cylinder_data[0] = 0x80;
                             i2c.write(0x40, cylinder_data, 1);
-                            //line_state_pettern = right_super_slow;
                         }
                         else if(timer.read() > 15.0f && timer.read() <= 15.5f) {
                             line_state_pettern = right_slow;
                         }
-                        else if(timer.read() > 15.5f && timer.read() <= 18.0f) {
+                        else if(timer.read() > 15.5f && timer.read() <= 17.5f) {
                             line_state_pettern = stop;
                             cylinder_data[0] = 5;
                             i2c.write(0x40, cylinder_data, 1);
@@ -1572,12 +1549,12 @@
                         else if(timer.read() > 33.0f && timer.read() <= 43.0f) {
                             line_state_pettern = stop;
                         }
-                        else if(timer.read() > 43.0f && timer.read() <= 43.5f) {
+                        else if(timer.read() > 43.0f && timer.read() <= 45.0f) {
                             line_state_pettern = back_trace;
                             //ライントレースの復帰
-                            trace_flag = 1;
+                            //trace_flag = 1;
                             //トレース方向の反転
-                            trace_direction = 1;
+                            //trace_direction = 1;
                             cylinder_data[0] = 0x80;
                             i2c.write(0x40, cylinder_data, 1);
                         }
@@ -1590,17 +1567,6 @@
                             cylinder_data[0] = 0x80;
                             i2c.write(0x40, cylinder_data, 1);
                             
-                            
-                        /*
-                        //発射して0.5秒たったら後進開始
-                        else if(timer.read() > 15.0f) {
-                            //トレース方向の反転
-                            trace_direction = 1;
-                            
-                            line_state_pettern = back_trace;
-                            cylinder_data[0] = 0x80;
-                            i2c.write(0x40, cylinder_data, 1);
-                        */
                         } else {
                             line_state_pettern = stop;
                             cylinder_data[0] = 0x80;
@@ -1761,6 +1727,8 @@
             }
             //リミットがONの時(1回目)
             if(lateral_frag == 1) {
+                //ライントレース有効果
+                trace_flag = 1;
                 //ローラー回転移動中
                 table_fire = low_table;
                 firing_minimum_distamce = low_table_minimum_distance;
@@ -1789,11 +1757,35 @@
             }
             //リミットがONの時(2回目)
             else if(lateral_frag == 3) {
+                
+                //ローラー回転停止
+                table_fire = 0;
+
+                //スタートゾーンに近づいたら減速
+                if(abs(measure_pulse) < 1200) {
+                    if(side == blue) {
+                        line_state_pettern  = left_super_slow;
+                    }
+                    else if(side == red) {
+                        line_state_pettern  = right_super_slow;
+                    }
+                }
+                else if(abs(measure_pulse) < 500) {
+                    line_state_pettern = stop;
+                } else {
+                    if(side == blue) {
+                        line_state_pettern  = left_fast;
+                    }
+                    else if(side == red) {
+                        line_state_pettern  = right_fast;
+                    }
+                }
+                /*
                 //ローラー回転移動中
                 table_fire = medium_table;
                 firing_minimum_distamce = medium_table_minimum_distance;
                 firing_maximum_distance = medium_table_maximum_distance;
-
+                
                 trace_direction = 0;
                 back_timer2.start();
                 if(back_timer2.read() <= 0.8f && back_timer2.read() != 0.0f) {
@@ -1807,8 +1799,9 @@
                 else if(back_timer2.read() > 0.8f) {
                     back_timer2.reset();
                     lateral_frag = 4;
-                }
+                }*/
             }
+            /*
             else if(lateral_frag == 4) {
                 if(limit.read() == 0) {
                     //上でback_timer3を使用しているためここでリセットをかける
@@ -1867,7 +1860,7 @@
                         line_state_pettern  = right_fast;
                     }
                 }
-            }
+            }*/
         }
         
         //テーブルごとに目標値を変えてローラー回転