Revision 2:a3f7435f9475, committed 2019-06-15

Comitter:

eunsong

Date:

Sat Jun 15 13:42:33 2019 +0000

Parent:

1:0896edc48011

Child:

3:700a0cf6beea

Commit message:

real final

Changed in this revision

--- 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