Quadrifoglio / Mbed OS 10_motor-test

motor test

Dependencies:   omni_wheel PID jy901 solenoid aqm0802 camera beep kohiMD linesSnsor lpf RCJESC

main.cpp@0:072b6518ad9a, 2020-01-30 (annotated)

Committer:
piroro4560
Date:
Thu Jan 30 15:45:14 2020 +0000
Revision:
0:072b6518ad9a
a

Who changed what in which revision?

UserRevisionLine numberNew contents of line
piroro4560 0:072b6518ad9a 1 #include "mbed.h"
piroro4560 0:072b6518ad9a 2 #include "robot.h"
piroro4560 0:072b6518ad9a 3 #include "sensorGen.h"
piroro4560 0:072b6518ad9a 4 #include "aqm0802.h"
piroro4560 0:072b6518ad9a 5 #include "beep.h"
piroro4560 0:072b6518ad9a 6
piroro4560 0:072b6518ad9a 7 sensor sensor;
piroro4560 0:072b6518ad9a 8 robot robo;
piroro4560 0:072b6518ad9a 9
piroro4560 0:072b6518ad9a 10 int main() {
piroro4560 0:072b6518ad9a 11 const bool test = true;
piroro4560 0:072b6518ad9a 12 while(1) {
piroro4560 0:072b6518ad9a 13 if (!test) //test
piroro4560 0:072b6518ad9a 14 {
piroro4560 0:072b6518ad9a 15 if () //白線踏んでない
piroro4560 0:072b6518ad9a 16 {
piroro4560 0:072b6518ad9a 17 if () //ボール持ってない
piroro4560 0:072b6518ad9a 18 {
piroro4560 0:072b6518ad9a 19 if () //ボール見えてる -> chaseBall
piroro4560 0:072b6518ad9a 20 {
piroro4560 0:072b6518ad9a 21 robo.chaseBall( , );
piroro4560 0:072b6518ad9a 22 }
piroro4560 0:072b6518ad9a 23 else //ボールみえてない -> searchBall
piroro4560 0:072b6518ad9a 24 {
piroro4560 0:072b6518ad9a 25 robo.searchBall();
piroro4560 0:072b6518ad9a 26 }
piroro4560 0:072b6518ad9a 27 }
piroro4560 0:072b6518ad9a 28 else //ボール持ってる
piroro4560 0:072b6518ad9a 29 {
piroro4560 0:072b6518ad9a 30 if () //ゴール見える -> moveGoal
piroro4560 0:072b6518ad9a 31 {
piroro4560 0:072b6518ad9a 32 robo.moveGoal();
piroro4560 0:072b6518ad9a 33 }
piroro4560 0:072b6518ad9a 34 else //ゴール見えない -> detour
piroro4560 0:072b6518ad9a 35 {
piroro4560 0:072b6518ad9a 36 robo.detour();
piroro4560 0:072b6518ad9a 37 }
piroro4560 0:072b6518ad9a 38 }
piroro4560 0:072b6518ad9a 39 }
piroro4560 0:072b6518ad9a 40 else //踏んだ
piroro4560 0:072b6518ad9a 41 {
piroro4560 0:072b6518ad9a 42
piroro4560 0:072b6518ad9a 43 }
piroro4560 0:072b6518ad9a 44 } else {
piroro4560 0:072b6518ad9a 45 test();
piroro4560 0:072b6518ad9a 46 }
piroro4560 0:072b6518ad9a 47 }
piroro4560 0:072b6518ad9a 48 }