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?
User | Revision | Line number | New 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 | } |