Diff: main.cpp

Revision:

3:43e85adf8768

Parent:

2:5c47df2771ec

--- a/main.cpp	Sat Jan 10 05:30:58 2015 +0000
+++ b/main.cpp	Mon Jan 12 01:02:24 2015 +0000
@@ -1,5 +1,7 @@
 #include "mbed.h"
 
+DigitalOut trig(p19);
+DigitalOut echo(p20);
 Serial pc(USBTX,USBRX);
 Serial trans(p9,p10);
 DigitalOut myled(LED1);
@@ -8,6 +10,7 @@
 PwmOut m1(p21);
 PwmOut m2(p22);
 BusOut updown(p27,p28);
+BusOut slidem(p17,p18);
 void move(int a,int b,int c,int d)
 {
     int width = 5.0;
@@ -16,9 +19,10 @@
     int l = 6;
     int r = 9;
     int stop = 0;
-    double mp1,mp2;
+    double mp1,mp2,mp3;
     mp1 = (c-1)/100.0;
     mp2 = 1.0-((d-1)/100.0);
+    mp3 = (d/100.0);
     //pc.printf("mp1*mp2--->%f\n\r",mp1*mp2);
     //pc.printf("mp1--->%f",mp1);
     if(d>b+width)
@@ -42,12 +46,12 @@
         if(c>b+width)
         {
             mc = seiten;
-            m1 = 1-mp1*mp2;
+            m1 = mp1*mp3;
             m2 = mp1;
         }else if(c<b-width)
         {
            mc = gyaku;
-           m2 = 1-(1-mp1)*mp2;
+           m2 = (1-mp1)*mp3;
            m1 = 1-mp1;
         }else{
             mc = r;
@@ -86,8 +90,23 @@
     }
 }
 
-int main() {
-    int8_t nx,ny,x,y,down_val,up_val;
+void slide(int a,int b)
+{
+    if(a == 0)
+    {
+        slidem = 1;
+    }else
+    if(b == 0)
+    {
+        slidem = 2;
+    }else{
+        slidem = 0;
+    }
+}
+
+int main() 
+{
+    int8_t nx,ny,x,y,down_val,up_val,slidel,slider;
     while(1) {
         if (trans.getc()== 255){
             nx =trans.getc();
@@ -96,9 +115,11 @@
             y = trans.getc();
             up_val = trans.getc();
             down_val = trans.getc();
+            slidel = trans.getc();
+            slider = trans.getc();
             move(nx,ny,x,y);
-            up_down(up_val,down_val);                    
+            up_down(up_val,down_val);
+            slide(slidel,slider);                    
         }
-        
     }      
 }