master
Dependencies: arrc_mbed
Diff: main.cpp
- Revision:
- 2:2feb9be14c08
- Parent:
- 1:9f57d402ea10
- Child:
- 3:a35f7cab9de2
diff -r 9f57d402ea10 -r 2feb9be14c08 main.cpp --- a/main.cpp Tue Apr 12 10:42:14 2022 +0000 +++ b/main.cpp Wed Apr 13 09:22:18 2022 +0000 @@ -5,6 +5,9 @@ #include"gy521.hpp" #include "neopixel.h" +bool the_left=false; + + double goal_x = -17700.0; double goal_y = 28800.0; @@ -22,7 +25,7 @@ #define goal_y2_left -8000000 #define period_r 8000.0 -NeoPixelOut npx(PB_4,7); +NeoPixelOut npx(PB_5,30); I2C i2d(PB_3,PB_10); GY521 gyro(i2d); ScrpSlave slave(PC_12,PD_2 ,PH_1 ,SERIAL_TX,SERIAL_RX,0x0807f800);//srcslave設定 @@ -35,7 +38,7 @@ int auto_mode=0; int side_change=0; - +int ty=0; @@ -151,6 +154,7 @@ } bool abc1(int a,int &b){ check_tepu+=1; + ty=0; return add(0,a); } bool abc2(int a,int &b){ @@ -182,6 +186,7 @@ } bool abc13(int a,int &b){ check_tepu+=1; + ty=1; return direct_tu(0,a); } bool abc14(int a,int &b){ @@ -215,7 +220,7 @@ goal_x2=goal_x2_right; goal_y2=goal_y2_right; - if(limitB){ + if(the_left==true){ side_change=1; goal_x=goal_x_left; goal_y=goal_y_left; @@ -277,6 +282,7 @@ motor_p[i]=0; motor_m[i]=0; } + pro3(-test_ang(goal_angle1-gyro.yaw),test_limit(goal_x-x_period),test_limit(goal_y-y_period)); }else if(step==60&&((sqrt((goal_y-y_period)*(goal_y-y_period)+(goal_x-x_period)*(goal_x-x_period))-sqrt(period_r*period_r)>1000)|| (sqrt((goal_y-y_period)*(goal_y-y_period)+(goal_x-x_period)*(goal_x-x_period))-sqrt(period_r*period_r)<-1000))){ @@ -323,16 +329,16 @@ //slave.send1(255,17,y_period*1); while(name.read_ms()<100){} //slave.send1(255,18,gyro.yaw*1); - for(i = 0; i < 2; i++){ + for(i = 0; i < 10; i++){ npx.global_scale = 0.05f; npx.normalize = false; - if(check_tepu>0){ + if(ty==0){ npx.setPixelColor(i,0xFF0000); }else { npx.setPixelColor(i,0x0000FF); } } - for(i = 2; i < 4; i++){ + for(i = 10; i < 20; i++){ npx.global_scale = 0.05f; npx.normalize = false; if(auto_swich){ @@ -341,7 +347,7 @@ npx.setPixelColor(i,0x00FF00); } } - for(i = 4; i < 6; i++){ + for(i = 20; i < 30; i++){ npx.global_scale = 0.05f; npx.normalize = false; if(side_change==0){ @@ -377,6 +383,11 @@ npx.normalize = false; npx.setPixelColor(i,0x00FFFF); } + for(i=4;i<30;i++){ + npx.global_scale = 0.05f; + npx.normalize = false; + npx.setPixelColor(i,0x00FFFF); + } npx.show(); } } \ No newline at end of file