Diff: main.cpp

Revision:

50:3e73f68c3b37

Parent:

49:6337717484fe

Child:

51:8b66c953d73a

--- a/main.cpp	Mon May 20 00:54:03 2019 +0000
+++ b/main.cpp	Mon May 20 01:52:35 2019 +0000
@@ -12,35 +12,21 @@
 void SetMode();
 void Start();
 void NoHandSignal();
-void LoadParameter();
+
 
 int start_state=0;
-LocalFileSystem SeqFile("Local");
 
-struct Param {
-    float argument[2];
-    float duty;
-    float condition;
-};
-struct Param params[17]= {}; //とりあえずいっぱい作った
+
 
 int main()
 {
     LoadParameter();
-
     //setup関連
     can1.frequency(1000000);
     SetupMoves();
     set_gyro();
-
-    /*while(1)
-    {
-        printf("switch 1:%d  2:%d  3:%d  LR:%d \r\n", switch_modes[0].read(),switch_modes[1].read(),switch_modes[2].read(),switch_LR.read());
-        wait(0.1);
-    }*/
-
     printf("hand read:%d\r\n",hand.read());
-
+    
     printf("reset standby\r\n");
     reset();//足をリセット位置に移動
     printf("bus standby\r\n");
@@ -53,11 +39,8 @@
     motor_lo.setDutyLimit(0.1);
     motor_li.setDutyLimit(0.1);
     straight();
-
-
 //    mode選択
     Start();
-    //SetMode();
 #ifndef BADRULEMODE
     if(RightOrLeft == 0) {
         if(start_state == 0) theta0 = -degree/100.0;
@@ -118,7 +101,8 @@
             printf("go straight!!!!!!!!!!\r\n");
             motor_lo.setDutyLimit(params[0].duty);
             motor_li.setDutyLimit(params[0].duty);
-            for(int i = 0; i < (int)params[0].condition; i++) {
+            
+            while(checkUW(params[1].condition, degree0, ec_lo.getCount()) == 0){
                 straightAndInfinity(params[0].argument[0], params[0].argument[1]);
             }
             printf("get distance mode");
@@ -126,7 +110,7 @@
             motor_lo.setDutyLimit(params[1].duty);
             motor_li.setDutyLimit(params[1].duty);
             for(int i=0; i<1; ++i) {
-                while(get_dist_back() < params[1].condition) {//300
+                while(Hcsr04BackWithEc() < params[1].condition) {//300
                     straightAndInfinity(params[1].argument[0], params[1].argument[1]);
                 }
             }
@@ -295,18 +279,3 @@
         wait(0.01);
     }
 }
-void LoadParameter()
-{
-    FILE *fp;
-    if ((fp = fopen("/Local/params.csv", "r")) == NULL) {//ファイル操作はじめかつエラー処理
-        printf("file open error!!\n");
-        exit(EXIT_FAILURE);
-    }
-    //以下ファイル操作の中身
-    int i;
-    while (fscanf(fp, "%f,%f,%f,%f", &params[i].argument[0], &params[i].argument[1], &params[i].duty,&params[i].condition) != EOF) {
-        printf("%f,%f,%f,%f\r\n",params[i].argument[0],params[i].argument[1],params[i].duty,params[i].condition);
-        i++;
-    }
-    fclose(fp);//ファイル操作終わり
-}
\ No newline at end of file