mbed_robotcar / Mbed OS avoidance

障害物回避走行プログラム

Files at this revision

API Documentation at this revision

Revision 2:3a891c8d5b82, committed 2020-07-22

Comitter:
tomotsugu
Date:
Wed Jul 22 03:23:50 2020 +0000
Parent:
1:9787fdc9b191
Child:
3:85fb510925f5
Commit message:
avoidance

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/main.cpp	Wed Jul 22 03:14:33 2020 +0000
+++ b/main.cpp	Wed Jul 22 03:23:50 2020 +0000
@@ -86,6 +86,7 @@
 
 /* 障害物回避走行 */
 void avoidance(){
+    Thread ws_thread(watchsurrounding);     // watchsurroundingをスレッド化
     while(1){
         if(flag == 0){          // 障害物がない場合
             run = ADVANCE;      // 前進
@@ -164,6 +165,6 @@
             }
         }
         flag = 0;                   // フラグを0にセット
-        Thread::signal_set(0x1);    // watchsurroundingのシグナルをセット
+        ws_thread.signal_set(0x1);  // watchsurroundingのシグナルをセット
     }
 }          
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