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Dependencies:   mbed HCSR04

main.cpp@5:b6daf80a7237, 2018-01-15 (annotated)

Committer:
Morimoto448
Date:
Mon Jan 15 07:02:03 2018 +0000
Revision:
5:b6daf80a7237
Parent:
4:04ca6a211b85 
test

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Morimoto448 0:7e3b7c017977 1 #include "mbed.h"
Morimoto448 3:dd3b7c3c327b 2 #include "hcsr04.h"
Morimoto448 0:7e3b7c017977 3
Morimoto448 5:b6daf80a7237 4
Morimoto448 5:b6daf80a7237 5 AnalogIn photoref_L(A1); // フォトリフレクタ左
Morimoto448 5:b6daf80a7237 6 AnalogIn photoref_M(A2); // フォトリフレクタ中央
Morimoto448 5:b6daf80a7237 7 AnalogIn photoref_R(A3); // フォトリフレクタ右
Morimoto448 5:b6daf80a7237 8
Morimoto448 0:7e3b7c017977 9 PwmOut mypwm4(D4);
Morimoto448 1:aabe6887447c 10 PwmOut mypwm6(D6);
Morimoto448 0:7e3b7c017977 11 PwmOut mypwm2(D2);
Morimoto448 0:7e3b7c017977 12 PwmOut mypwm3(D3);
Morimoto448 0:7e3b7c017977 13
Morimoto448 0:7e3b7c017977 14 Ticker flag;
Morimoto448 3:dd3b7c3c327b 15 Ticker timerflag;
Morimoto448 1:aabe6887447c 16 Timer t;
Morimoto448 0:7e3b7c017977 17
Morimoto448 0:7e3b7c017977 18 DigitalOut myled(LED1);
Morimoto448 0:7e3b7c017977 19
Morimoto448 4:04ca6a211b85 20 HCSR04 usensor1(D9,D10); // Trigger(DO), Echo(PWMIN)
Morimoto448 4:04ca6a211b85 21 HCSR04 usensor2(D11,D12); // Trigger(DO), Echo(PWMIN)
Morimoto448 4:04ca6a211b85 22 unsigned int dist1,dist2;
Morimoto448 3:dd3b7c3c327b 23
Morimoto448 0:7e3b7c017977 24
Morimoto448 0:7e3b7c017977 25 #define STATE_A (0)
Morimoto448 0:7e3b7c017977 26 #define STATE_B (1)
Morimoto448 0:7e3b7c017977 27 #define STATE_C (2)
Morimoto448 0:7e3b7c017977 28 #define STATE_D (3)
Morimoto448 0:7e3b7c017977 29 #define STATE_E (4)
ishi777 2:f568ec2e6955 30 #define STATE_A2 (5)
Morimoto448 4:04ca6a211b85 31 #define STATE_A3 (6)
Morimoto448 5:b6daf80a7237 32 #define STATE_A4 (7)
Morimoto448 5:b6daf80a7237 33 #define STATE_D2 (8)
Morimoto448 0:7e3b7c017977 34
Morimoto448 5:b6daf80a7237 35 char mode,fase,linetrace;
Morimoto448 0:7e3b7c017977 36 int wait_flag;
Morimoto448 5:b6daf80a7237 37 double timer,measL,measM,measR;
Morimoto448 0:7e3b7c017977 38
Morimoto448 4:04ca6a211b85 39
Morimoto448 3:dd3b7c3c327b 40 void tflg(){
Morimoto448 5:b6daf80a7237 41 timer = t.read(); //タイマー値読み込み
Morimoto448 0:7e3b7c017977 42 }
Morimoto448 3:dd3b7c3c327b 43 /*void flg(){
Morimoto448 3:dd3b7c3c327b 44 usensor.start();
Morimoto448 3:dd3b7c3c327b 45 dist=usensor.get_dist_cm();
Morimoto448 3:dd3b7c3c327b 46 printf("dist:%u\n", dist);
Morimoto448 3:dd3b7c3c327b 47 }*/
Morimoto448 0:7e3b7c017977 48
Morimoto448 0:7e3b7c017977 49 int main() {
Morimoto448 0:7e3b7c017977 50
Morimoto448 1:aabe6887447c 51 t.start();
Morimoto448 0:7e3b7c017977 52 mode = STATE_E;
Morimoto448 0:7e3b7c017977 53 wait_flag = 0;
Morimoto448 0:7e3b7c017977 54
Morimoto448 4:04ca6a211b85 55 fase = 0;
Morimoto448 4:04ca6a211b85 56
Morimoto448 0:7e3b7c017977 57 mypwm4.period_ms(100);
Morimoto448 1:aabe6887447c 58 mypwm6.period_ms(100);
Morimoto448 0:7e3b7c017977 59 mypwm2.period_ms(100);
Morimoto448 0:7e3b7c017977 60 mypwm3.period_ms(100);
Morimoto448 0:7e3b7c017977 61
Morimoto448 5:b6daf80a7237 62 timerflag.attach(&tflg, 0.1);
Morimoto448 3:dd3b7c3c327b 63 /*flag.attach(&flg, 1.0);*/
Morimoto448 3:dd3b7c3c327b 64
Morimoto448 3:dd3b7c3c327b 65
Morimoto448 3:dd3b7c3c327b 66 while(1){
Morimoto448 3:dd3b7c3c327b 67
Morimoto448 4:04ca6a211b85 68 usensor1.start();
Morimoto448 5:b6daf80a7237 69 usensor2.start();
Morimoto448 4:04ca6a211b85 70 dist1=usensor1.get_dist_cm();
Morimoto448 4:04ca6a211b85 71 dist2=usensor2.get_dist_cm();
Morimoto448 5:b6daf80a7237 72 measL = photoref_L.read();
Morimoto448 5:b6daf80a7237 73 measM = photoref_M.read();
Morimoto448 5:b6daf80a7237 74 measR = photoref_R.read();
Morimoto448 5:b6daf80a7237 75 wait(0.1);
Morimoto448 5:b6daf80a7237 76 printf("dist1: %ld\n",dist1);
Morimoto448 4:04ca6a211b85 77 printf("dist2: %ld\n",dist2);
Morimoto448 5:b6daf80a7237 78 printf("fase: %ld\n",fase);
Morimoto448 5:b6daf80a7237 79 printf("timer: %lf\n",timer);
Morimoto448 0:7e3b7c017977 80
Morimoto448 5:b6daf80a7237 81
Morimoto448 5:b6daf80a7237 82
Morimoto448 3:dd3b7c3c327b 83
Morimoto448 3:dd3b7c3c327b 84 switch (fase)
Morimoto448 5:b6daf80a7237 85 { case 0:
Morimoto448 5:b6daf80a7237 86 if(timer > 5.0){
Morimoto448 5:b6daf80a7237 87 mode = STATE_A2;
Morimoto448 5:b6daf80a7237 88 if(dist1 > 45 && dist1 < 100){
Morimoto448 5:b6daf80a7237 89 fase = 1;
Morimoto448 5:b6daf80a7237 90 t.stop();
Morimoto448 5:b6daf80a7237 91 t.reset();
Morimoto448 5:b6daf80a7237 92 }
Morimoto448 5:b6daf80a7237 93 }
Morimoto448 5:b6daf80a7237 94 break;
Morimoto448 5:b6daf80a7237 95 /* switch(linetrace){
Morimoto448 5:b6daf80a7237 96 case 0:
Morimoto448 5:b6daf80a7237 97 if(timer > 5 && measL>0.2 && measM>0.2 && measR>0.2){
Morimoto448 5:b6daf80a7237 98 mode = STATE_A4;
Morimoto448 5:b6daf80a7237 99 }if((timer > 5 && measL<0.2 && measM<0.2) || (timer > 5 && measM<0.2 && measR<0.2)){
Morimoto448 5:b6daf80a7237 100 linetrace = 1;
Morimoto448 5:b6daf80a7237 101 t.stop();
Morimoto448 5:b6daf80a7237 102 t.reset();
Morimoto448 5:b6daf80a7237 103 }
Morimoto448 5:b6daf80a7237 104 break;
Morimoto448 5:b6daf80a7237 105
Morimoto448 5:b6daf80a7237 106 case 1:
Morimoto448 5:b6daf80a7237 107 t.start();
Morimoto448 5:b6daf80a7237 108 if(measL<0.2 && measM>0.2){
Morimoto448 5:b6daf80a7237 109 mode = STATE_A3;
Morimoto448 5:b6daf80a7237 110 }else if(measM<0.2 && measL>0.2){
Morimoto448 5:b6daf80a7237 111 mode = STATE_A2;
Morimoto448 5:b6daf80a7237 112 }else if(measL>0.2 && measM>0.2){
Morimoto448 5:b6daf80a7237 113 if(dist2 < 10){
Morimoto448 5:b6daf80a7237 114 mode = STATE_A2;
Morimoto448 5:b6daf80a7237 115 }else if(dist2 > 10){
Morimoto448 5:b6daf80a7237 116 mode = STATE_A3;
Morimoto448 5:b6daf80a7237 117 }
Morimoto448 5:b6daf80a7237 118 }else if((timer > 1 && measL<0.2 && measM<0.2) || (timer > 1 && measM<0.2 && measR<0.2) ){
Morimoto448 5:b6daf80a7237 119 linetrace = 2;
Morimoto448 5:b6daf80a7237 120 t.stop();
Morimoto448 5:b6daf80a7237 121 t.reset();
Morimoto448 5:b6daf80a7237 122 }
Morimoto448 5:b6daf80a7237 123 break;
Morimoto448 5:b6daf80a7237 124
Morimoto448 5:b6daf80a7237 125 case 2:
Morimoto448 5:b6daf80a7237 126 t.start();
Morimoto448 5:b6daf80a7237 127 mode = STATE_B;
Morimoto448 5:b6daf80a7237 128 if((timer > 2 && measL<0.2 && measM<0.2) || (timer > 1 && measM<0.2 && measR<0.2)){
Morimoto448 5:b6daf80a7237 129 fase = 2;
Morimoto448 3:dd3b7c3c327b 130 t.stop();
Morimoto448 3:dd3b7c3c327b 131 t.reset();
Morimoto448 5:b6daf80a7237 132 } //if閉じ
Morimoto448 5:b6daf80a7237 133 } //switch閉じ
Morimoto448 5:b6daf80a7237 134 break;*/
Morimoto448 5:b6daf80a7237 135
Morimoto448 3:dd3b7c3c327b 136 case 1:
Morimoto448 5:b6daf80a7237 137 if(timer == 0){
Morimoto448 5:b6daf80a7237 138 wait_flag = 1;
Morimoto448 5:b6daf80a7237 139 mode = STATE_B;
Morimoto448 5:b6daf80a7237 140 t.start();
Morimoto448 5:b6daf80a7237 141 }else if(timer > 2.0 && dist1 > 60 && dist1 < 250){
Morimoto448 3:dd3b7c3c327b 142 wait_flag = 1;
Morimoto448 3:dd3b7c3c327b 143 mode = STATE_A;
Morimoto448 5:b6daf80a7237 144 t.stop();
Morimoto448 3:dd3b7c3c327b 145 t.reset();
Morimoto448 3:dd3b7c3c327b 146 fase = 2;
Morimoto448 3:dd3b7c3c327b 147 }
Morimoto448 3:dd3b7c3c327b 148 break;
Morimoto448 3:dd3b7c3c327b 149 case 2:
Morimoto448 5:b6daf80a7237 150 t.start();
Morimoto448 5:b6daf80a7237 151 if(timer > 10.0 && timer < 11.0){
Morimoto448 3:dd3b7c3c327b 152 wait_flag = 1;
Morimoto448 3:dd3b7c3c327b 153 mode = STATE_D;
Morimoto448 5:b6daf80a7237 154 fase = 3;
Morimoto448 5:b6daf80a7237 155 t.stop();
Morimoto448 5:b6daf80a7237 156 t.reset();
Morimoto448 5:b6daf80a7237 157 }/*else if (timer > 10.0 && timer < 11.0 && dist2 < 8 ){
Morimoto448 5:b6daf80a7237 158 wait_flag = 1;
Morimoto448 5:b6daf80a7237 159 mode = STATE_D2;
Morimoto448 5:b6daf80a7237 160 fase = 3;
Morimoto448 5:b6daf80a7237 161 t.stop();
Morimoto448 5:b6daf80a7237 162 t.reset();
Morimoto448 5:b6daf80a7237 163 }*/
Morimoto448 5:b6daf80a7237 164 break;
Morimoto448 5:b6daf80a7237 165 case 3:
Morimoto448 5:b6daf80a7237 166 t.start();
Morimoto448 5:b6daf80a7237 167 /* if(timer > 15.0 && timer < 16.0 && dist2 > 8 && dist2 < 100){
Morimoto448 5:b6daf80a7237 168 wait_flag = 1;
Morimoto448 5:b6daf80a7237 169 mode = STATE_A4;
Morimoto448 5:b6daf80a7237 170 fase = 4;
Morimoto448 5:b6daf80a7237 171 t.stop();
Morimoto448 5:b6daf80a7237 172 t.reset();
Morimoto448 5:b6daf80a7237 173 }else */
Morimoto448 5:b6daf80a7237 174 if (timer > 15.0 && timer < 16.0){
Morimoto448 5:b6daf80a7237 175 wait_flag = 1;
Morimoto448 5:b6daf80a7237 176 mode = STATE_A3;
Morimoto448 5:b6daf80a7237 177 fase = 4;
Morimoto448 5:b6daf80a7237 178 t.stop();
Morimoto448 5:b6daf80a7237 179 t.reset();
Morimoto448 5:b6daf80a7237 180 }
Morimoto448 5:b6daf80a7237 181 break;
Morimoto448 5:b6daf80a7237 182
Morimoto448 5:b6daf80a7237 183 case 4:
Morimoto448 5:b6daf80a7237 184 /*if(measL <0.2 || measM <0.2 || measR <0.2){
Morimoto448 5:b6daf80a7237 185 wait_flag = 1;
Morimoto448 5:b6daf80a7237 186 mode = STATE_C;
Morimoto448 5:b6daf80a7237 187 fase = 5;
Morimoto448 5:b6daf80a7237 188 }*/
Morimoto448 5:b6daf80a7237 189 if(dist1 > 45 && dist1 < 100){
Morimoto448 5:b6daf80a7237 190 fase = 5;}
Morimoto448 5:b6daf80a7237 191
Morimoto448 5:b6daf80a7237 192 break;
Morimoto448 5:b6daf80a7237 193 case 5:
Morimoto448 5:b6daf80a7237 194 wait_flag = 1;
Morimoto448 5:b6daf80a7237 195 mode = STATE_C;
Morimoto448 5:b6daf80a7237 196 t.start();
Morimoto448 5:b6daf80a7237 197 if(timer > 2.0 && dist1 > 60 && dist1 < 250){
Morimoto448 5:b6daf80a7237 198 t.stop();
Morimoto448 5:b6daf80a7237 199 t.reset();
Morimoto448 5:b6daf80a7237 200 fase = 6;
Morimoto448 5:b6daf80a7237 201 }
Morimoto448 5:b6daf80a7237 202 break;
Morimoto448 5:b6daf80a7237 203
Morimoto448 5:b6daf80a7237 204 case 6:
Morimoto448 5:b6daf80a7237 205 t.start();
Morimoto448 5:b6daf80a7237 206 if(timer <2.0){
Morimoto448 5:b6daf80a7237 207 wait_flag = 1;
Morimoto448 5:b6daf80a7237 208 mode = STATE_A;
Morimoto448 5:b6daf80a7237 209 }else{
Morimoto448 5:b6daf80a7237 210 wait_flag = 1;
Morimoto448 5:b6daf80a7237 211 mode = STATE_A4;}
Morimoto448 5:b6daf80a7237 212 break;
Morimoto448 5:b6daf80a7237 213
Morimoto448 5:b6daf80a7237 214
Morimoto448 5:b6daf80a7237 215
Morimoto448 5:b6daf80a7237 216
Morimoto448 5:b6daf80a7237 217
Morimoto448 5:b6daf80a7237 218
Morimoto448 5:b6daf80a7237 219
Morimoto448 5:b6daf80a7237 220
Morimoto448 5:b6daf80a7237 221
Morimoto448 5:b6daf80a7237 222 /* else if(timer > 20.0 && timer < 21.0){
Morimoto448 3:dd3b7c3c327b 223 wait_flag = 1;
Morimoto448 3:dd3b7c3c327b 224 mode = STATE_A;
Morimoto448 5:b6daf80a7237 225 }else if(timer > 30.0 && timer < 31.0){
Morimoto448 3:dd3b7c3c327b 226 wait_flag = 1;
Morimoto448 3:dd3b7c3c327b 227 mode = STATE_D;
Morimoto448 5:b6daf80a7237 228 }else if(timer > 40.0 && timer < 41.0){
Morimoto448 3:dd3b7c3c327b 229 wait_flag = 1;
Morimoto448 4:04ca6a211b85 230 mode = STATE_A;
Morimoto448 5:b6daf80a7237 231 }else if(timer > 50.0 && timer < 51.0){
Morimoto448 3:dd3b7c3c327b 232 wait_flag = 1;
Morimoto448 4:04ca6a211b85 233 mode = STATE_D;}
Morimoto448 5:b6daf80a7237 234 break; */
Morimoto448 3:dd3b7c3c327b 235 }
Morimoto448 1:aabe6887447c 236 // 状態が切り替わるときは一時停止
Morimoto448 0:7e3b7c017977 237 if(wait_flag==1)
Morimoto448 0:7e3b7c017977 238 {
Morimoto448 0:7e3b7c017977 239 // フラグの初期化
Morimoto448 0:7e3b7c017977 240 wait_flag = 0;
Morimoto448 0:7e3b7c017977 241 myled = 0; // LED消灯
Morimoto448 0:7e3b7c017977 242 // 左モータの制御
Morimoto448 0:7e3b7c017977 243 mypwm4.pulsewidth_ms(80);
Morimoto448 1:aabe6887447c 244 mypwm6.pulsewidth_ms(80);
Morimoto448 0:7e3b7c017977 245 // 右モータの制御
Morimoto448 0:7e3b7c017977 246 mypwm2.pulsewidth_ms(80);
Morimoto448 0:7e3b7c017977 247 mypwm3.pulsewidth_ms(80);
Morimoto448 0:7e3b7c017977 248 // 500ms待機する
Morimoto448 1:aabe6887447c 249 wait(0.5);
Morimoto448 0:7e3b7c017977 250 }
Morimoto448 3:dd3b7c3c327b 251
Morimoto448 0:7e3b7c017977 252 switch (mode)
Morimoto448 0:7e3b7c017977 253 {
Morimoto448 0:7e3b7c017977 254 // STATE_A : 前進（左：正転　右：正転）
Morimoto448 0:7e3b7c017977 255 case STATE_A:
Morimoto448 0:7e3b7c017977 256 myled = 1; // LED点灯
Morimoto448 5:b6daf80a7237 257 // 右モータの制御
Morimoto448 5:b6daf80a7237 258 mypwm4.pulsewidth_ms(40);
Morimoto448 1:aabe6887447c 259 mypwm6.pulsewidth_ms(0);
Morimoto448 5:b6daf80a7237 260 // 左モータの制御
Morimoto448 5:b6daf80a7237 261 mypwm2.pulsewidth_ms(38);
ishi777 2:f568ec2e6955 262 mypwm3.pulsewidth_ms(0);
ishi777 2:f568ec2e6955 263 break;
Morimoto448 4:04ca6a211b85 264 // STATE_A2 : 右に曲がる（左：正転　右：正転）
ishi777 2:f568ec2e6955 265 case STATE_A2:
ishi777 2:f568ec2e6955 266 myled = 1; // LED点灯
Morimoto448 5:b6daf80a7237 267 // 右モータの制御
Morimoto448 5:b6daf80a7237 268 mypwm4.pulsewidth_ms(55);
ishi777 2:f568ec2e6955 269 mypwm6.pulsewidth_ms(0);
Morimoto448 5:b6daf80a7237 270 // 左モータの制御
Morimoto448 5:b6daf80a7237 271 mypwm2.pulsewidth_ms(38);
Morimoto448 4:04ca6a211b85 272 mypwm3.pulsewidth_ms(0);
Morimoto448 4:04ca6a211b85 273 break;
Morimoto448 4:04ca6a211b85 274 // STATE_A3 : hidariに曲がる（左：正転　右：正転）
Morimoto448 4:04ca6a211b85 275 case STATE_A3:
Morimoto448 4:04ca6a211b85 276 myled = 1; // LED点灯
Morimoto448 5:b6daf80a7237 277 // 右モータの制御
Morimoto448 5:b6daf80a7237 278 mypwm4.pulsewidth_ms(40);
Morimoto448 5:b6daf80a7237 279 mypwm6.pulsewidth_ms(0);
Morimoto448 4:04ca6a211b85 280 // 左モータの制御
Morimoto448 5:b6daf80a7237 281 mypwm2.pulsewidth_ms(55);
Morimoto448 5:b6daf80a7237 282 mypwm3.pulsewidth_ms(0);
Morimoto448 5:b6daf80a7237 283 break;
Morimoto448 5:b6daf80a7237 284 case STATE_A4:
Morimoto448 5:b6daf80a7237 285 myled = 1; // LED点灯
Morimoto448 5:b6daf80a7237 286 // 右モータの制御
Morimoto448 5:b6daf80a7237 287 mypwm4.pulsewidth_ms(50);
Morimoto448 4:04ca6a211b85 288 mypwm6.pulsewidth_ms(0);
Morimoto448 5:b6daf80a7237 289 // 左モータの制御
Morimoto448 5:b6daf80a7237 290 mypwm2.pulsewidth_ms(40);
Morimoto448 5:b6daf80a7237 291 mypwm3.pulsewidth_ms(0);
Morimoto448 5:b6daf80a7237 292 break;
Morimoto448 5:b6daf80a7237 293 // STATE_B : 左旋回（左：正転　右：逆転）
Morimoto448 5:b6daf80a7237 294 case STATE_B:
Morimoto448 5:b6daf80a7237 295 myled = 0; // LED点灯
Morimoto448 4:04ca6a211b85 296 // 右モータの制御
Morimoto448 5:b6daf80a7237 297 mypwm4.pulsewidth_ms(30);
Morimoto448 5:b6daf80a7237 298 mypwm6.pulsewidth_ms(0);
Morimoto448 5:b6daf80a7237 299 // 左モータの制御
Morimoto448 5:b6daf80a7237 300 mypwm2.pulsewidth_ms(0);
Morimoto448 5:b6daf80a7237 301 mypwm3.pulsewidth_ms(30);
Morimoto448 0:7e3b7c017977 302 break;
Morimoto448 0:7e3b7c017977 303
Morimoto448 5:b6daf80a7237 304 // STATE_C : 右旋回（左：逆転　右：正転）
Morimoto448 5:b6daf80a7237 305 case STATE_C:
Morimoto448 5:b6daf80a7237 306 myled = 0; // LED点灯
Morimoto448 0:7e3b7c017977 307 // 右モータの制御
Morimoto448 5:b6daf80a7237 308 mypwm4.pulsewidth_ms(0);
Morimoto448 5:b6daf80a7237 309 mypwm6.pulsewidth_ms(40);
Morimoto448 0:7e3b7c017977 310 // 左モータの制御
Morimoto448 5:b6daf80a7237 311 mypwm2.pulsewidth_ms(40);
Morimoto448 0:7e3b7c017977 312 mypwm3.pulsewidth_ms(0);
Morimoto448 0:7e3b7c017977 313 break;
Morimoto448 0:7e3b7c017977 314
Morimoto448 0:7e3b7c017977 315 // STATE_D : 後退（左：逆転　右：逆転）
Morimoto448 0:7e3b7c017977 316 case STATE_D:
Morimoto448 0:7e3b7c017977 317 myled = 1; // LED点灯
Morimoto448 5:b6daf80a7237 318 // 右モータの制御
Morimoto448 0:7e3b7c017977 319 mypwm4.pulsewidth_ms(0);
Morimoto448 5:b6daf80a7237 320 mypwm6.pulsewidth_ms(50);
Morimoto448 5:b6daf80a7237 321 // 左モータの制御
Morimoto448 0:7e3b7c017977 322 mypwm2.pulsewidth_ms(0);
Morimoto448 5:b6daf80a7237 323 mypwm3.pulsewidth_ms(48);
Morimoto448 0:7e3b7c017977 324 break;
Morimoto448 0:7e3b7c017977 325
Morimoto448 5:b6daf80a7237 326 // STATE_D : 後退（左：逆転　右：逆転）
Morimoto448 5:b6daf80a7237 327 case STATE_D2:
Morimoto448 5:b6daf80a7237 328 myled = 1; // LED点灯
Morimoto448 5:b6daf80a7237 329 // 右モータの制御
Morimoto448 5:b6daf80a7237 330 mypwm4.pulsewidth_ms(0);
Morimoto448 5:b6daf80a7237 331 mypwm6.pulsewidth_ms(47);
Morimoto448 5:b6daf80a7237 332 // 左モータの制御
Morimoto448 5:b6daf80a7237 333 mypwm2.pulsewidth_ms(0);
Morimoto448 5:b6daf80a7237 334 mypwm3.pulsewidth_ms(48);
Morimoto448 5:b6daf80a7237 335 break;
Morimoto448 0:7e3b7c017977 336 // STATE_E : ブレーキ（左：ブレーキ　右：ブレーキ）
Morimoto448 0:7e3b7c017977 337 case STATE_E:
Morimoto448 0:7e3b7c017977 338 myled = 0; // LED消灯
Morimoto448 5:b6daf80a7237 339 // 右モータの制御
Morimoto448 0:7e3b7c017977 340 mypwm4.pulsewidth_ms(60);
Morimoto448 1:aabe6887447c 341 mypwm6.pulsewidth_ms(60);
Morimoto448 5:b6daf80a7237 342 // 左モータの制御
Morimoto448 0:7e3b7c017977 343 mypwm2.pulsewidth_ms(60);
Morimoto448 0:7e3b7c017977 344 mypwm3.pulsewidth_ms(60);
Morimoto448 0:7e3b7c017977 345 break;
Morimoto448 0:7e3b7c017977 346 }
Morimoto448 0:7e3b7c017977 347 }
Morimoto448 4:04ca6a211b85 348 }
Morimoto448 5:b6daf80a7237 349