cansat_B 2019 / Mbed 2 deprecated CanSatB2019_main_1214_essence_1

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Dependencies:   mbed

main.cpp@6:db1a62608047, 2019-11-22 (annotated)

Committer:
YUPPY
Date:
Fri Nov 22 08:52:55 2019 +0000
Revision:
6:db1a62608047
Parent:
5:5aa7223226df
Child:
7:fae874e898b3
yeah!

Who changed what in which revision?

UserRevisionLine numberNew contents of line
YUPPY 0:6212b283430c 1 #define cansatB
YUPPY 4:1354e56c7dd3 2 #define min(x, y) ((x) < (y)) ? (x) : (y)
YUPPY 2:e2b803e3bcbc 3 #include "mbed.h" //mbed
YUPPY 2:e2b803e3bcbc 4 #include "getGPS.h" //GPS
YUPPY 2:e2b803e3bcbc 5 #include "math.h" //GPS
YUPPY 3:5d0c4b13f4e8 6 #include "TB6612.h" //motorDriver
YUPPY 4:1354e56c7dd3 7 #include "JPEGCamera.h"//カメラ
YUPPY 4:1354e56c7dd3 8 #include "base64.h"//写真ーXBee
YUPPY 2:e2b803e3bcbc 9 #include "us015.h" // 超音波センサ
YUPPY 0:6212b283430c 10 #include <stdio.h>
YUPPY 2:e2b803e3bcbc 11 US015 hs(p12,p11); //P12 :超音波センサ トリガ出力 //p11 :超音波センサ エコー入力
YUPPY 2:e2b803e3bcbc 12 GPS gps (p28,p27); //GPS
YUPPY 4:1354e56c7dd3 13
YUPPY 2:e2b803e3bcbc 14 DigitalOut FET(p21); //FET
YUPPY 4:1354e56c7dd3 15 DigitalOut Ultra(p12);
YUPPY 6:db1a62608047 16 DigitalOut thermo(p20); //焦電センサ↓
YUPPY 2:e2b803e3bcbc 17 DigitalOut led(LED1);
YUPPY 4:1354e56c7dd3 18 Serial pc(USBTX,USBRX); // tx, rx 焦電センサ↑
YUPPY 5:5aa7223226df 19 Serial xbee(p13, p14);
YUPPY 4:1354e56c7dd3 20 TB6612 left(p25,p17,p16);//motor
YUPPY 4:1354e56c7dd3 21 TB6612 right(p26,p19,p18);//motor
YUPPY 2:e2b803e3bcbc 22
YUPPY 5:5aa7223226df 23 void JPEGCamera(void);
YUPPY 5:5aa7223226df 24 void us015(void);
YUPPY 5:5aa7223226df 25 void motorFoward(void);
YUPPY 5:5aa7223226df 26 void motorFowardR(void);
YUPPY 5:5aa7223226df 27 void motorForwardL(void);
YUPPY 5:5aa7223226df 28 void motorStop(void);
YUPPY 5:5aa7223226df 29 void motorReverse(void);
YUPPY 5:5aa7223226df 30 LocalFileSystem local("local");
YUPPY 5:5aa7223226df 31
YUPPY 5:5aa7223226df 32 int main() {
YUPPY 5:5aa7223226df 33 printf("CanSat-B_Start!\r\n");
YUPPY 5:5aa7223226df 34
YUPPY 6:db1a62608047 35 printf("FETのコピーはここ");
YUPPY 5:5aa7223226df 36 //以下GPS
YUPPY 2:e2b803e3bcbc 37 double a;
YUPPY 2:e2b803e3bcbc 38 double b;
YUPPY 2:e2b803e3bcbc 39 double distance;
YUPPY 2:e2b803e3bcbc 40
YUPPY 2:e2b803e3bcbc 41 pc.printf("GPS Start\r\n");
YUPPY 2:e2b803e3bcbc 42
YUPPY 2:e2b803e3bcbc 43 while(1) {
YUPPY 2:e2b803e3bcbc 44 if(gps.getgps()){
YUPPY 2:e2b803e3bcbc 45 a = gps.latitude;
YUPPY 2:e2b803e3bcbc 46 b = gps.longitude;
YUPPY 2:e2b803e3bcbc 47
YUPPY 2:e2b803e3bcbc 48 pc.printf("(%lf,%lf)\r\n",gps.latitude,gps.longitude);//緯度と経度を表示
YUPPY 2:e2b803e3bcbc 49
YUPPY 2:e2b803e3bcbc 50 break;
YUPPY 2:e2b803e3bcbc 51
YUPPY 2:e2b803e3bcbc 52 }else{
YUPPY 2:e2b803e3bcbc 53 pc.printf("NO DATA\r\n");//データ取得失敗
YUPPY 2:e2b803e3bcbc 54 wait(1);
YUPPY 2:e2b803e3bcbc 55 }
YUPPY 2:e2b803e3bcbc 56 }
YUPPY 2:e2b803e3bcbc 57 while(1){
YUPPY 2:e2b803e3bcbc 58 if(gps.getgps()) {
YUPPY 2:e2b803e3bcbc 59
YUPPY 2:e2b803e3bcbc 60 pc.printf("(%lf,%lf)\n\r",gps.latitude,gps.longitude);//緯度と経度を表示
YUPPY 2:e2b803e3bcbc 61
YUPPY 2:e2b803e3bcbc 62 // 球面三角法により、大円距離(メートル)を求める
YUPPY 2:e2b803e3bcbc 63 double c;
YUPPY 2:e2b803e3bcbc 64 double d;
YUPPY 2:e2b803e3bcbc 65 c = gps.latitude;
YUPPY 2:e2b803e3bcbc 66 d = gps.longitude;
YUPPY 2:e2b803e3bcbc 67
YUPPY 2:e2b803e3bcbc 68 const double pi = 3.14159265359; // 円周率
YUPPY 2:e2b803e3bcbc 69
YUPPY 2:e2b803e3bcbc 70 double ra = a * pi / 180;
YUPPY 2:e2b803e3bcbc 71 double rb = b * pi / 180; // 緯度経度をラジアンに変換
YUPPY 2:e2b803e3bcbc 72 double rc = c * pi / 180;
YUPPY 2:e2b803e3bcbc 73 double rd = d * pi / 180;
YUPPY 2:e2b803e3bcbc 74
YUPPY 2:e2b803e3bcbc 75 double e = sin(ra) * sin(rc) + cos(ra) * cos(rc) * cos(rb - rd); // 2点の中心角(ラジアン)を求める
YUPPY 2:e2b803e3bcbc 76 double rr = acos(e);
YUPPY 2:e2b803e3bcbc 77
YUPPY 2:e2b803e3bcbc 78 const double earth_radius = 6378140; // 地球赤道半径(m)
YUPPY 2:e2b803e3bcbc 79
YUPPY 2:e2b803e3bcbc 80 distance = earth_radius * rr; // 2点間の距離(m)
YUPPY 2:e2b803e3bcbc 81
YUPPY 2:e2b803e3bcbc 82
YUPPY 2:e2b803e3bcbc 83
YUPPY 2:e2b803e3bcbc 84
YUPPY 2:e2b803e3bcbc 85 if (distance<5){
YUPPY 2:e2b803e3bcbc 86 printf("%lf\r\n",distance);
YUPPY 5:5aa7223226df 87 motorFoward();
YUPPY 2:e2b803e3bcbc 88 }else{
YUPPY 5:5aa7223226df 89 motorStop();
YUPPY 2:e2b803e3bcbc 90 pc.printf("5m clear!");
YUPPY 2:e2b803e3bcbc 91 break;
YUPPY 2:e2b803e3bcbc 92 }
YUPPY 2:e2b803e3bcbc 93
YUPPY 2:e2b803e3bcbc 94 }else{
YUPPY 2:e2b803e3bcbc 95 pc.printf("NO DATA\r\n");//データ取得失敗
YUPPY 2:e2b803e3bcbc 96 wait(1);
YUPPY 2:e2b803e3bcbc 97 }
YUPPY 2:e2b803e3bcbc 98 }
YUPPY 5:5aa7223226df 99 //GPS End
YUPPY 5:5aa7223226df 100
YUPPY 4:1354e56c7dd3 101 float th;
YUPPY 4:1354e56c7dd3 102 Timer tm;
YUPPY 4:1354e56c7dd3 103 pc.printf("start\r\n");
YUPPY 6:db1a62608047 104
YUPPY 4:1354e56c7dd3 105 bool detected=false;
YUPPY 4:1354e56c7dd3 106 thermo=0; //焦電off
YUPPY 4:1354e56c7dd3 107 Ultra=1;//超音波on
YUPPY 6:db1a62608047 108
YUPPY 5:5aa7223226df 109 us015();
YUPPY 4:1354e56c7dd3 110 if(distance<2000){//超音波反応
YUPPY 4:1354e56c7dd3 111 Ultra=0;//超音波off
YUPPY 4:1354e56c7dd3 112 thermo=1;//焦電on
YUPPY 5:5aa7223226df 113 motorStop();
YUPPY 5:5aa7223226df 114
YUPPY 4:1354e56c7dd3 115 if(true)
YUPPY 4:1354e56c7dd3 116 th = thermo;
YUPPY 4:1354e56c7dd3 117 if(th=1 && !detected) {//焦電反応ありの場合
YUPPY 4:1354e56c7dd3 118 detected=true;
YUPPY 4:1354e56c7dd3 119 pc.printf("human\r\n");
YUPPY 4:1354e56c7dd3 120 tm.reset();
YUPPY 4:1354e56c7dd3 121 tm.start();
YUPPY 4:1354e56c7dd3 122 thermo=0;
YUPPY 5:5aa7223226df 123 JPEGCamera();
YUPPY 5:5aa7223226df 124
YUPPY 5:5aa7223226df 125 FILE *fp;
YUPPY 5:5aa7223226df 126 base64 *bs;
YUPPY 5:5aa7223226df 127 int c;
YUPPY 5:5aa7223226df 128
YUPPY 5:5aa7223226df 129 xbee.printf("charizard!!!\r\n");
YUPPY 5:5aa7223226df 130 bs = new base64();
YUPPY 5:5aa7223226df 131 bs->Encode("/local/PICT000.jpg","/local/d.txt");
YUPPY 5:5aa7223226df 132
YUPPY 5:5aa7223226df 133
YUPPY 5:5aa7223226df 134 if((fp=fopen("/local/d.txt","r"))!=NULL)
YUPPY 5:5aa7223226df 135 {
YUPPY 5:5aa7223226df 136 while ((c=fgetc(fp))!=EOF){
YUPPY 5:5aa7223226df 137 xbee.printf("%c",c);
YUPPY 5:5aa7223226df 138 }
YUPPY 5:5aa7223226df 139 fclose(fp);
YUPPY 5:5aa7223226df 140 }
YUPPY 5:5aa7223226df 141
YUPPY 5:5aa7223226df 142
YUPPY 5:5aa7223226df 143 }else{//焦電反応なしの場合
YUPPY 5:5aa7223226df 144 detected=false;
YUPPY 5:5aa7223226df 145 thermo=0;
YUPPY 5:5aa7223226df 146 Ultra=1;
YUPPY 5:5aa7223226df 147 }
YUPPY 5:5aa7223226df 148
YUPPY 5:5aa7223226df 149
YUPPY 5:5aa7223226df 150 //while(true)
YUPPY 5:5aa7223226df 151
YUPPY 5:5aa7223226df 152
YUPPY 5:5aa7223226df 153 //超音波センサー反応あり
YUPPY 5:5aa7223226df 154 //停止
YUPPY 5:5aa7223226df 155 //超音波センサーOFF
YUPPY 5:5aa7223226df 156 //焦電センサーON
YUPPY 5:5aa7223226df 157
YUPPY 5:5aa7223226df 158 //焦電センサー反応あり
YUPPY 5:5aa7223226df 159 //焦電センサーOFF
YUPPY 5:5aa7223226df 160 //カメラ起動
YUPPY 5:5aa7223226df 161 //カメラOFF
YUPPY 5:5aa7223226df 162 //XBeeによりPCへ送信
YUPPY 6:db1a62608047 163 printf("OK1はここに\r\n");
YUPPY 5:5aa7223226df 164 //"OK"受信、ミッション終了
YUPPY 6:db1a62608047 165 printf("OK2はここに\r\n");
YUPPY 5:5aa7223226df 166 //"NO"受信、ミッション再開
YUPPY 5:5aa7223226df 167
YUPPY 6:db1a62608047 168 printf("NOはここに");
YUPPY 5:5aa7223226df 169
YUPPY 5:5aa7223226df 170 //焦電センサー反応無し
YUPPY 5:5aa7223226df 171 //焦電センサーOFF
YUPPY 5:5aa7223226df 172 //方向転換
YUPPY 5:5aa7223226df 173 //超音波センサーON
YUPPY 5:5aa7223226df 174 //直進
YUPPY 5:5aa7223226df 175 }
YUPPY 5:5aa7223226df 176 else if(distance>=2000){
YUPPY 5:5aa7223226df 177 motorStop();
YUPPY 5:5aa7223226df 178 wait(2);
YUPPY 5:5aa7223226df 179 motorFowardR();
YUPPY 5:5aa7223226df 180 wait(3);
YUPPY 5:5aa7223226df 181 }
YUPPY 5:5aa7223226df 182 //超音波センサー反応無し
YUPPY 5:5aa7223226df 183 //停止
YUPPY 5:5aa7223226df 184 //方向転換
YUPPY 5:5aa7223226df 185 //直進
YUPPY 5:5aa7223226df 186 }
YUPPY 5:5aa7223226df 187
YUPPY 5:5aa7223226df 188
YUPPY 5:5aa7223226df 189 void JPEGCamera(){
YUPPY 5:5aa7223226df 190 const int RESPONSE_TIMEOUT = 500;
YUPPY 4:1354e56c7dd3 191 const int DATA_TIMEOUT = 1000;
YUPPY 4:1354e56c7dd3 192
YUPPY 4:1354e56c7dd3 193 JPEGCamera::JPEGCamera(PinName tx, PinName rx) : Serial(tx, rx) {
YUPPY 4:1354e56c7dd3 194 printf("AA\r\n");
YUPPY 4:1354e56c7dd3 195 baud(38400);
YUPPY 4:1354e56c7dd3 196 state = READY;
YUPPY 4:1354e56c7dd3 197 }
YUPPY 4:1354e56c7dd3 198
YUPPY 4:1354e56c7dd3 199 bool JPEGCamera::setPictureSize(JPEGCamera::PictureSize size, bool doReset) {
YUPPY 4:1354e56c7dd3 200 char buf[9] = {0x56, 0x00, 0x31, 0x05, 0x04, 0x01, 0x00, 0x19, (char) size};
YUPPY 4:1354e56c7dd3 201 int ret = sendReceive(buf, sizeof buf, 5);
YUPPY 4:1354e56c7dd3 202
YUPPY 4:1354e56c7dd3 203 if (ret == 5 && buf[0] == 0x76) {
YUPPY 4:1354e56c7dd3 204 if (doReset)
YUPPY 4:1354e56c7dd3 205 reset();
YUPPY 4:1354e56c7dd3 206 return true;
YUPPY 4:1354e56c7dd3 207 } else
YUPPY 4:1354e56c7dd3 208 return false;
YUPPY 4:1354e56c7dd3 209 }
YUPPY 4:1354e56c7dd3 210
YUPPY 4:1354e56c7dd3 211 bool JPEGCamera::isReady() {
YUPPY 4:1354e56c7dd3 212 return state == READY;
YUPPY 4:1354e56c7dd3 213 }
YUPPY 4:1354e56c7dd3 214
YUPPY 4:1354e56c7dd3 215 bool JPEGCamera::isProcessing() {
YUPPY 4:1354e56c7dd3 216 return state == PROCESSING;
YUPPY 4:1354e56c7dd3 217 }
YUPPY 4:1354e56c7dd3 218
YUPPY 4:1354e56c7dd3 219 bool JPEGCamera::takePicture(char *filename) {
YUPPY 4:1354e56c7dd3 220 if (state == READY) {
YUPPY 4:1354e56c7dd3 221 fp = fopen(filename, "wb");
YUPPY 4:1354e56c7dd3 222 if (fp != 0) {
YUPPY 4:1354e56c7dd3 223 if (takePicture()) {
YUPPY 4:1354e56c7dd3 224 imageSize = getImageSize();
YUPPY 4:1354e56c7dd3 225 address = 0;
YUPPY 4:1354e56c7dd3 226 state = PROCESSING;
YUPPY 4:1354e56c7dd3 227 } else {
YUPPY 4:1354e56c7dd3 228 fclose(fp);
YUPPY 4:1354e56c7dd3 229 printf("takePicture(%s) failed", filename);
YUPPY 4:1354e56c7dd3 230 state = ERROR;
YUPPY 4:1354e56c7dd3 231 }
YUPPY 4:1354e56c7dd3 232 } else {
YUPPY 4:1354e56c7dd3 233 printf("fopen() failed");
YUPPY 4:1354e56c7dd3 234 state = ERROR;
YUPPY 4:1354e56c7dd3 235 }
YUPPY 3:5d0c4b13f4e8 236 }
YUPPY 4:1354e56c7dd3 237 return state != ERROR;
YUPPY 4:1354e56c7dd3 238 }
YUPPY 4:1354e56c7dd3 239
YUPPY 4:1354e56c7dd3 240 bool JPEGCamera::processPicture() {
YUPPY 4:1354e56c7dd3 241 if (state == PROCESSING) {
YUPPY 4:1354e56c7dd3 242 if (address < imageSize) {
YUPPY 4:1354e56c7dd3 243 char data[1024];
YUPPY 4:1354e56c7dd3 244 int size = readData(data, min(sizeof(data), imageSize - address), address);
YUPPY 4:1354e56c7dd3 245 int ret = fwrite(data, size, 1, fp);
YUPPY 4:1354e56c7dd3 246 if (ret > 0)
YUPPY 4:1354e56c7dd3 247 address += size;
YUPPY 4:1354e56c7dd3 248 if (ret == 0 || address >= imageSize) {
YUPPY 4:1354e56c7dd3 249 stopPictures();
YUPPY 4:1354e56c7dd3 250 fclose(fp);
YUPPY 4:1354e56c7dd3 251 wait(0.1); // ????
YUPPY 4:1354e56c7dd3 252 state = ret > 0 ? READY : ERROR;
YUPPY 4:1354e56c7dd3 253 }
YUPPY 4:1354e56c7dd3 254 }
YUPPY 4:1354e56c7dd3 255 }
YUPPY 4:1354e56c7dd3 256
YUPPY 4:1354e56c7dd3 257 return state == PROCESSING || state == READY;
YUPPY 3:5d0c4b13f4e8 258 }
YUPPY 0:6212b283430c 259
YUPPY 4:1354e56c7dd3 260 bool JPEGCamera::reset() {
YUPPY 4:1354e56c7dd3 261 char buf[4] = {0x56, 0x00, 0x26, 0x00};
YUPPY 4:1354e56c7dd3 262 int ret = sendReceive(buf, sizeof buf, 4);
YUPPY 4:1354e56c7dd3 263 if (ret == 4 && buf[0] == 0x76) {
YUPPY 4:1354e56c7dd3 264 wait(4.0);
YUPPY 4:1354e56c7dd3 265 state = READY;
YUPPY 4:1354e56c7dd3 266 } else {
YUPPY 4:1354e56c7dd3 267 state = ERROR;
YUPPY 4:1354e56c7dd3 268 }
YUPPY 4:1354e56c7dd3 269 return state == READY;
YUPPY 4:1354e56c7dd3 270 }
YUPPY 4:1354e56c7dd3 271
YUPPY 4:1354e56c7dd3 272 bool JPEGCamera::takePicture() {
YUPPY 4:1354e56c7dd3 273 char buf[5] = {0x56, 0x00, 0x36, 0x01, 0x00};
YUPPY 4:1354e56c7dd3 274 int ret = sendReceive(buf, sizeof buf, 5);
YUPPY 4:1354e56c7dd3 275
YUPPY 4:1354e56c7dd3 276 return ret == 5 && buf[0] == 0x76;
YUPPY 4:1354e56c7dd3 277 }
YUPPY 4:1354e56c7dd3 278
YUPPY 4:1354e56c7dd3 279 bool JPEGCamera::stopPictures() {
YUPPY 4:1354e56c7dd3 280 char buf[5] = {0x56, 0x00, 0x36, 0x01, 0x03};
YUPPY 4:1354e56c7dd3 281 int ret = sendReceive(buf, sizeof buf, 5);
YUPPY 4:1354e56c7dd3 282
YUPPY 4:1354e56c7dd3 283 return ret == 4 && buf[0] == 0x76;
YUPPY 4:1354e56c7dd3 284 }
YUPPY 4:1354e56c7dd3 285
YUPPY 4:1354e56c7dd3 286 int JPEGCamera::getImageSize() {
YUPPY 4:1354e56c7dd3 287 char buf[9] = {0x56, 0x00, 0x34, 0x01, 0x00};
YUPPY 4:1354e56c7dd3 288 int ret = sendReceive(buf, sizeof buf, 9);
YUPPY 4:1354e56c7dd3 289
YUPPY 4:1354e56c7dd3 290 //The size is in the last 2 characters of the response.
YUPPY 4:1354e56c7dd3 291 return (ret == 9 && buf[0] == 0x76) ? (buf[7] << 8 | buf[8]) : 0;
YUPPY 4:1354e56c7dd3 292 }
YUPPY 4:1354e56c7dd3 293
YUPPY 4:1354e56c7dd3 294 int JPEGCamera::readData(char *dataBuf, int size, int address) {
YUPPY 4:1354e56c7dd3 295 char buf[16] = {0x56, 0x00, 0x32, 0x0C, 0x00, 0x0A, 0x00, 0x00,
YUPPY 4:1354e56c7dd3 296 address >> 8, address & 255, 0x00, 0x00, size >> 8, size & 255, 0x00, 0x0A
YUPPY 4:1354e56c7dd3 297 };
YUPPY 4:1354e56c7dd3 298 int ret = sendReceive(buf, sizeof buf, 5);
YUPPY 4:1354e56c7dd3 299
YUPPY 4:1354e56c7dd3 300 return (ret == 5 && buf[0] == 0x76) ? receive(dataBuf, size, DATA_TIMEOUT) : 0;
YUPPY 4:1354e56c7dd3 301 }
YUPPY 4:1354e56c7dd3 302
YUPPY 4:1354e56c7dd3 303 int JPEGCamera::sendReceive(char *buf, int sendSize, int receiveSize) {
YUPPY 4:1354e56c7dd3 304 while (readable()) getc();
YUPPY 4:1354e56c7dd3 305
YUPPY 4:1354e56c7dd3 306 for (int i = 0; i < sendSize; i++) putc(buf[i]);
YUPPY 4:1354e56c7dd3 307
YUPPY 4:1354e56c7dd3 308 return receive(buf, receiveSize, RESPONSE_TIMEOUT);
YUPPY 4:1354e56c7dd3 309 }
YUPPY 4:1354e56c7dd3 310
YUPPY 4:1354e56c7dd3 311 int JPEGCamera::receive(char *buf, int size, int timeout) {
YUPPY 4:1354e56c7dd3 312 timer.start();
YUPPY 4:1354e56c7dd3 313 timer.reset();
YUPPY 4:1354e56c7dd3 314
YUPPY 4:1354e56c7dd3 315 int i = 0;
YUPPY 4:1354e56c7dd3 316 while (i < size && timer.read_ms() < timeout) {
YUPPY 4:1354e56c7dd3 317 if (readable())
YUPPY 4:1354e56c7dd3 318 buf[i++] = getc();
YUPPY 4:1354e56c7dd3 319 }
YUPPY 4:1354e56c7dd3 320
YUPPY 4:1354e56c7dd3 321 return i;
YUPPY 4:1354e56c7dd3 322 }
YUPPY 5:5aa7223226df 323 void us015(){
YUPPY 5:5aa7223226df 324 hs.TrigerOut();
YUPPY 5:5aa7223226df 325 wait(1);
YUPPY 5:5aa7223226df 326 int distance;
YUPPY 5:5aa7223226df 327 distance = hs.GetDistance();
YUPPY 5:5aa7223226df 328 printf("%d\r\n",distance);//距離出力
YUPPY 5:5aa7223226df 329 }
YUPPY 4:1354e56c7dd3 330
YUPPY 5:5aa7223226df 331 void motorFoward(){
YUPPY 5:5aa7223226df 332 left = 100;
YUPPY 5:5aa7223226df 333 right = 100;
YUPPY 5:5aa7223226df 334 printf("直進\n\r");
YUPPY 5:5aa7223226df 335 }
YUPPY 5:5aa7223226df 336 void motorFowardR(){
YUPPY 5:5aa7223226df 337 left = 100;
YUPPY 5:5aa7223226df 338 right = 20;
YUPPY 5:5aa7223226df 339 printf("右折\n\r");
YUPPY 5:5aa7223226df 340 }
YUPPY 5:5aa7223226df 341 void motorForwardL(){
YUPPY 5:5aa7223226df 342 left = 20;
YUPPY 5:5aa7223226df 343 right = 100;
YUPPY 5:5aa7223226df 344 printf("左折\n\r");}
YUPPY 5:5aa7223226df 345 void motorStop(){
YUPPY 5:5aa7223226df 346 left = 0;
YUPPY 5:5aa7223226df 347 right = 0;
YUPPY 5:5aa7223226df 348 printf("停止\n\r");}
YUPPY 5:5aa7223226df 349 void motorReverse(){
YUPPY 5:5aa7223226df 350 left = -50;
YUPPY 5:5aa7223226df 351 right = -50;
YUPPY 5:5aa7223226df 352 printf("バック\n\r");
YUPPY 5:5aa7223226df 353 }