final_8조
ss
Dependencies: WS2812 PixelArray Adafruit_GFX
Diff: main.cpp
- Revision:
- 2:a3f7435f9475
- Parent:
- 0:27e31cadeb36
- Child:
- 3:700a0cf6beea
--- a/main.cpp Sat Jun 15 13:30:57 2019 +0000
+++ b/main.cpp Sat Jun 15 13:42:33 2019 +0000
@@ -73,8 +73,8 @@
typedef enum{NOK = 0, YOK}flag;
// Nessary change to enum!!!
+flag flag_cal_Max;
flag flag_cal_Min;
-flag flag_cal_Max;
flag flag_start;
flag flag_over;
flag flag_out;
@@ -114,9 +114,8 @@
Adafruit_SSD1306_I2c oled(i2c, D9, 0x78, 64, 128);
int main(){
- neothread.start(&NeopixelOn);
oled.clearDisplay();
- oled.printf("Welcome to Alphabot\r\n\r\n");
+ oled.printf("Welcome to Alphabot\r\n");
oled.display();
Initialization();
@@ -124,14 +123,16 @@
Driving();
if(flag_end){
+ // neothread.start(&NeopixelOn);
oled.clearDisplay();
int duration = total.read();
oled.printf("Congratulation!! \r\n");
oled.printf("Time is %.3f", total.read());
oled.display();
- flag_neo = YOK;
+ NeopixelOn();
+ // wait(10);
}
-
+ //NeopixelOn();
}
//====================================================
@@ -144,6 +145,8 @@
flag_over = NOK;
flag_IR = NOK;
flag_distance = NOK;
+ flag_cal_Min = NOK;
+ flag_cal_Max = NOK;
TR.calibrate_init(calMin,calMax);
@@ -186,12 +189,13 @@
if ((ir_rx.getState() == ReceiverIR::Received)&&(ir_rx.getData(&format, IR_buf, sizeof(IR_buf) * 8)!=0)) {
for(int i =0 ; i<4; i ++){
IR_buf_sum |=(IR_buf[i]<<8*(3-i));
- }
+ }
pc.printf("%X\r\n",IR_buf_sum);
if(IR_buf_sum == 0x00FF0CF3){
io.write(0x7F);
TR.calibrate(sensor_val, calMin, calMax);
wait(0.5);
+ TR.calibrate(sensor_val, calMin, calMax);
io.write(0xFF);
for(int i = 0; i<5; i++){
pc.printf("Min_sensor_value[%d] = %d\r\n",i+1,calMin[i]);
@@ -216,7 +220,9 @@
io.write(0xBF);
TR.calibrate(sensor_val, calMin, calMax);
wait(0.5);
+ TR.calibrate(sensor_val, calMin, calMax);
io.write(0xFF);
+
for(int i = 0; i<5; i++){
pc.printf("Min_sensor_value[%d] = %d\r\n",i+1,calMin[i]);
pc.printf("Max_sensor_value[%d] = %d\r\n",i+1,calMax[i]);
@@ -228,7 +234,7 @@
}
}
-
+
//=================start===============================
while(flag_start == NOK){
@@ -261,13 +267,12 @@
total.start();
-
Etime.start();
while(!flag_end){
Etime.reset();
- // Obstacle_check();
+ Obstacle_check();
if(flag_distance == NOK){
Actuator();
@@ -278,13 +283,14 @@
do{
- }while(Etime.read()<0.00300001);
+ }while(Etime.read()<=0.0075);
+
}
}
-int End_check(int *sensor_values){
+int End_check(int *sensor_values){
int avg = 0;
int sum = 0;
@@ -292,7 +298,6 @@
sum += sensor_values[i];
}
avg = sum / NUMSENSORS;
- //pc.printf("\tavg function: %d\r\n",avg);
return avg;
}
@@ -302,9 +307,9 @@
den = 30;
- //int temp = TR.readLine(sensor_val, calMin, calMax,on_line,1) - MIDDLE;
+
int temp = TR.readLine(sensor_val, calMin, calMax,on_line,1);
- //pc.printf("new temp: %d\r\n",temp);
+
TR.readCalibrated(sensor_for_end, calMin, calMax);
int avg = End_check(sensor_for_end);
@@ -330,30 +335,27 @@
pc.printf("online = %d\r\n", on_line[0]);
}
- R_PWM = 140;
- L_PWM = 140;
+ R_PWM = 135;
+ L_PWM = 133;
-
- //if(weight > (2000/den)*2/3) weight = (2000/den)*3/4;
-
if(weight >= (2000/den)*3/4){
if(direction == LEFT){
- PWMA.pulsewidth_us(L_PWM+0.0*weight);
+ PWMA.pulsewidth_us(L_PWM+3+0.0*weight);
PWMB.pulsewidth_us(R_PWM-2.1*weight);
}
else{
- PWMA.pulsewidth_us(L_PWM-2.1*weight);
+ PWMA.pulsewidth_us(L_PWM+3-2.1*weight);
PWMB.pulsewidth_us(R_PWM+0.0*weight);
}
}else{
if(direction == LEFT){
- PWMA.pulsewidth_us(L_PWM+0.0*weight);
- PWMB.pulsewidth_us(R_PWM-1.4*weight);
+ PWMA.pulsewidth_us(L_PWM+3+0.0*weight);
+ PWMB.pulsewidth_us(R_PWM-1.5*weight);
}
else{
- PWMA.pulsewidth_us(L_PWM-1.4*weight);
+ PWMA.pulsewidth_us(L_PWM+3-1.5*weight);
PWMB.pulsewidth_us(R_PWM+0.0*weight);
}
}
@@ -370,21 +372,21 @@
{
if(P_weight >=(2000/den)*2/3 && P_weight<=(2000/den)*4/5){
if(P_direction == LEFT){
- PWMA.pulsewidth_us(L_PWM-P_weight);
+ PWMA.pulsewidth_us(L_PWM-P_weight+3);
PWMB.pulsewidth_us(R_PWM);
}
else{
- PWMA.pulsewidth_us(L_PWM);
+ PWMA.pulsewidth_us(L_PWM+3);
PWMB.pulsewidth_us(R_PWM-P_weight);
}
}
if(P_weight>=(2000/den)*4/5){
if(P_direction == LEFT){
- PWMA.pulsewidth_us(L_PWM-1.0*P_weight);
+ PWMA.pulsewidth_us(L_PWM+3-1.0*P_weight);
PWMB.pulsewidth_us(R_PWM+1.0*P_weight);
}
else{
- PWMA.pulsewidth_us(L_PWM+1.0*P_weight);
+ PWMA.pulsewidth_us(L_PWM+3+1.0*P_weight);
PWMB.pulsewidth_us(R_PWM-1.0*P_weight);
}
}
@@ -410,14 +412,12 @@
if(flag_distance == YOK){
while(1){
- // pc.printf("distance check. turn left!!\r\n");
PWMB.pulsewidth_us(100);
PWMA.pulsewidth_us(100);
AIN1.write(1);
AIN2.write(0);
BIN1.write(0);
BIN2.write(1);
- //pc.printf("ABS == ")
if((abs(TR.readLine(sensor_val, calMin, calMax,on_line,1) - MIDDLE)<=400 && on_line[0] == 1)){
Motor_init();
flag_distance = NOK;
@@ -431,9 +431,6 @@
void Obstacle_check(){
- //io.write 체크
- //flag_IR 변경 YOK
- // pc.printf("flag_out = %x\r\n", io.read());
if(io.read() == 0x7F){ //왼쪽읽음
flag_IR = YOK;
flag_obstacle = YOK;
@@ -448,24 +445,15 @@
if(flag_IR){
Otime.start();
- //flag_IR = NOK;
- // pc.printf("\tActuator Obstacel start\r\n");
while(flag_obstacle == YOK){
- //while(io.read() != 0xFF){
-
Actuator_Obstacle(Obs_direction);
pc.printf("obstacle!\r\n");
- //pc.printf("\t\tActuator Obstacel start\r\n");
-
}
Otime.stop();
Otime.reset();
flag_IR = NOK;
}
-
-
-
}
@@ -482,7 +470,7 @@
}
else if(dir == 1 ){
PWMA.pulsewidth_us(L_PWM-100);
- PWMB.pulsewidth_us(R_PWM-40);
+ PWMB.pulsewidth_us(R_PWM-30);
}
}else if(Otime.read() <= 1.0){
@@ -500,10 +488,10 @@
if(dir == 0){
PWMA.pulsewidth_us(L_PWM-100);
- PWMB.pulsewidth_us(R_PWM-40);
+ PWMB.pulsewidth_us(R_PWM-30);
}
else if(dir == 1 ){
- PWMA.pulsewidth_us(L_PWM-20);
+ PWMA.pulsewidth_us(L_PWM-10);
PWMB.pulsewidth_us(R_PWM-100);
}
@@ -545,8 +533,9 @@
int colorbuf[NUM_COLORS] = {0x2f0000,0x2f2f00,0x002f00,0x002f2f,0x00002f,0x2f002f};
// Now the buffer is written, write it to the led array.
- while (flag_neo)
+ while (1)
{
+ //pc.printf("thread\r\n");
//get starting RGB components for interpolation
std::size_t c1 = colorbuf[colorFrom];
std::size_t r1 = (c1 & 0xff0000) >> 16;
@@ -587,20 +576,4 @@
colorTo = colorIdx;
}
-}
-
-
-/*
-else if(Otime.read() <= 2.0){
-
- if(dir == 0){
- PWMA.pulsewidth_us(L_PWM+5);
- PWMB.pulsewidth_us(R_PWM);
- }
- else if(dir == 1 ){
- PWMA.pulsewidth_us(L_PWM+5);
- PWMB.pulsewidth_us(R_PWM);
- }
-
-}
-*/
\ No newline at end of file
+}
\ No newline at end of file