Diff: main.cpp

Revision:

16:429f6ad98e90

Parent:

15:1deffcfa5b1a

Child:

17:2e0a775081ce

--- a/main.cpp	Sat Dec 14 13:27:51 2019 +0000
+++ b/main.cpp	Sat Dec 14 15:16:36 2019 +0000
@@ -198,105 +198,106 @@
        Sb612switch=1; //焦電on
        wait(1);
 
-       printf("焦電On!\r\n  ");
-
-       bool detected=false;
-       th = thermo;
-
-       if(th==1 && !detected) {//焦電反応ありの場合
-         i++; 
-         detected=true;
-         pc.printf("human\r\n");
-         tm.reset();
-         tm.start();
-           
-         LocalFileSystem local("local");
-         Timer timer;
-         timer.start();
-         camera.setPictureSize(JPEGCamera::SIZE320x240);
+      printf("焦電On!\r\n  ");
+           bool detected=false;
+             th = thermo;
+             if(th==1 && !detected) {//焦電反応ありの場合
+               i++; 
+               detected=true;
+               pc.printf("human\r\n");
+               tm.reset();
+               tm.start();
+          
+               LocalFileSystem local("local");
+               Timer timer;
+               timer.start();
+               camera.setPictureSize(JPEGCamera::SIZE320x240);
                
-         FILE *fp;
-         base64 *bs;
-         int c;
+               FILE *fp;
+               base64 *bs;
+               int c;
 
-          for (int r = 0; r < 1; r++) {
-            if (camera.isReady()) {
-             char filename[25];
-             snprintf(filename,25,"%s%03d%s","/local/pict",r,".jpg");
-             printf("Picture: %s ", filename);
-              if (camera.takePicture(filename)) { 
-                while (camera.isProcessing()) {
-                 camera.processPicture();
-
-                 printf("take pictuer!");
-
-                 xbee.printf("xbee connected!!\r\n");
-
-                 bs = new base64();
-                 bs->Encode(filename,"/local/data.txt");
+            for (int r = 0; r < 1; r++) {
+               if (camera.isReady()) {
+                 char filename[32];
+                 sprintf(filename, "/local/pict%03d.jpg",r);
+                 printf("Picture: %s ", filename);
+                 if (camera.takePicture(filename)) { 
+                  while (camera.isProcessing()) {
+                    camera.processPicture();
+                    printf("take pictuer!");
+                   }
+                 }else{
+                 printf("take picture failed\r\n");
+                 }
+               }else{
+                 printf("camera is not ready\r\n");
+                }
                
-                 printf("time = %f\n", timer.read());
-
+               printf("time = %f\n", timer.read());
+               
+       
                
-                  if((fp=fopen("/local/d.txt","r"))!=NULL){
+               xbee.printf("xbee connected!\r\n");
+               bs = new base64();
+               bs->Encode("/local/pict000.jpg","/local/data000.txt");
+               
+               if((fp=fopen("/local/data000.txt","r"))!=NULL)
+               {
                    pc.printf("ok\r\n");
                    while((c=fgetc(fp))!=EOF){
-                     xbee.printf("%c",c);
+                       xbee.printf("%c",c);
                     }
                     fclose(fp);
-                  }
+                }
                 }
-              }else{
-                printf("take picture failed\r\n");
-                  }
-            }else{
-              printf("camera is not ready\r\n");
-                 }
-            while(1){
+                while(1){
         
-              int received_data = xbee.getc();
+                    int received_data = xbee.getc();
    
-              if (received_data == 82 || received_data == 114){  //Rまたはｒ
-
-                xbee.printf("_________________________________________________________________________________________________________________________________\r\n");
-                if((fp=fopen("/local/d.txt","r"))!=NULL) {
-                  while ((c=fgetc(fp))!=EOF){
-
-                   xbee.printf("%c",c);                    //再送
-                  }
-                  fclose(fp);
-                }
-              }else{
-                break;
-              }
-            }
+                    if (received_data == 82 || received_data == 114){  //Rまたはｒ
+                        xbee.printf("_________________________________________________________________________________________________________________________________\r\n");
+                         if((fp=fopen("/local/data000.txt","r"))!=NULL)
+                         {
+                            while ((c=fgetc(fp))!=EOF){
+                                xbee.printf("%c",c);                    //再送
+                             }
+                         fclose(fp);
+                         }
+                     }
+                     else{
+                         break;
+                         }
+                    }
      
-            Sb612switch=0; //焦電off
-            wait(1);
-          }
-        }else{//焦電反応なしの場合
-         printf("not found!\r\n");
-         Sb612switch=0;
-         wait(1);
-         Ultra=0;
-         wait(1);
-         detected=false;
-         printf("後退\r\n");
-         left1 = -100; //左モーター-50％
-         right1 = -100;//右モーター-50％
-         wait(2.0);
-         left1=-50;
-         right1=-50;
-         wait(1);
-         left1=0;
-         right1=0;
-         wait(1);
+               Sb612switch=0; //焦電off
+               wait(1);
+              }else{//焦電反応なしの場合
+              printf("not found!\r\n");
+               
                
-         printf("右折\n\r");
-         left1 = 60; //左モーター100％
-         right1 = 100;//右モーター100％
-         wait(2.0);
-        }           
+               Sb612switch=0;
+               wait(1);
+               Ultra=0;
+               wait(1);
+               detected=false;
+               printf("後退\r\n");
+               left1 = -100; //左モーター-5０％
+               right1 = -100;//右モーター-5０％
+               wait(2.0);
+               left1=-50;
+               right1=-50;
+               wait(1);
+               left1=0;
+               right1=0;
+               wait(1);
+               
+               printf("右折\n\r");
+               
+               left1 = 60; //左モーター１００％
+               right1 = 100;//右モーター１００％
+               wait(2.0);
+              }               
       }else{//超音波distance>2000
         printf("safety zone\r\n");
         Ultra=0;