mech
/
Line_Trace_Pro_NEW11
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Dependencies: mbed
main.cpp@5:8a0721428fa7, 2019-01-10 (annotated)
- Committer:
- isshikiyuya
- Date:
- Thu Jan 10 03:17:28 2019 +0000
- Revision:
- 5:8a0721428fa7
- Parent:
- 4:282471928d78
aa
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| isshikiyuya | 0:7a6b6c687fa3 | 1 | #include "function.h" |
| isshikiyuya | 0:7a6b6c687fa3 | 2 | |
| isshikiyuya | 0:7a6b6c687fa3 | 3 | PwmOut pwm11(D5); //左正転 |
| isshikiyuya | 0:7a6b6c687fa3 | 4 | PwmOut pwm12(D1); //左逆転 |
| isshikiyuya | 0:7a6b6c687fa3 | 5 | PwmOut pwm21(D6); //右正転 |
| isshikiyuya | 0:7a6b6c687fa3 | 6 | PwmOut pwm22(D9); //右逆転 |
| isshikiyuya | 0:7a6b6c687fa3 | 7 | DigitalOut LED(D2); |
| isshikiyuya | 0:7a6b6c687fa3 | 8 | InterruptIn button1(A2); //フォトインタラプタ左 |
| isshikiyuya | 0:7a6b6c687fa3 | 9 | InterruptIn button2(A1); //フォトインタラプタ右 |
| isshikiyuya | 0:7a6b6c687fa3 | 10 | AnalogIn in1(A6); //フォトリフレクタ左 |
| isshikiyuya | 0:7a6b6c687fa3 | 11 | AnalogIn in2(A4); //フォトリフレクタ真ん中 |
| isshikiyuya | 0:7a6b6c687fa3 | 12 | AnalogIn in3(A3); //フォトリフレクタ右 |
| isshikiyuya | 0:7a6b6c687fa3 | 13 | |
| isshikiyuya | 0:7a6b6c687fa3 | 14 | float g = 0.0f; |
| isshikiyuya | 0:7a6b6c687fa3 | 15 | float gain1 = 0.0f; |
| isshikiyuya | 0:7a6b6c687fa3 | 16 | float gain2 = 0.0f; |
| isshikiyuya | 0:7a6b6c687fa3 | 17 | float dif1 = 0.0f; |
| isshikiyuya | 0:7a6b6c687fa3 | 18 | float dif2 = 0.0f; |
| isshikiyuya | 0:7a6b6c687fa3 | 19 | float thr1 = 0.40f; |
| isshikiyuya | 0:7a6b6c687fa3 | 20 | float thr2 = 0.40f; |
| isshikiyuya | 0:7a6b6c687fa3 | 21 | float thr3 = 0.40f; |
| isshikiyuya | 0:7a6b6c687fa3 | 22 | int judge1 = 0; |
| isshikiyuya | 0:7a6b6c687fa3 | 23 | int judge2 = 0; |
| isshikiyuya | 0:7a6b6c687fa3 | 24 | int judge3 = 0; |
| isshikiyuya | 0:7a6b6c687fa3 | 25 | |
| isshikiyuya | 0:7a6b6c687fa3 | 26 | int main() { |
| isshikiyuya | 0:7a6b6c687fa3 | 27 | pwm11.period(0.01f); //100Hz |
| isshikiyuya | 0:7a6b6c687fa3 | 28 | pwm12.period(0.01f); //100Hz |
| isshikiyuya | 0:7a6b6c687fa3 | 29 | pwm21.period(0.01f); //100Hz |
| isshikiyuya | 0:7a6b6c687fa3 | 30 | pwm22.period(0.01f); //100Hz |
| isshikiyuya | 0:7a6b6c687fa3 | 31 | button1.rise(&flip1); |
| isshikiyuya | 0:7a6b6c687fa3 | 32 | button2.rise(&flip2); |
| isshikiyuya | 0:7a6b6c687fa3 | 33 | int n;//3biteで状態を表現 |
| isshikiyuya | 0:7a6b6c687fa3 | 34 | |
| isshikiyuya | 0:7a6b6c687fa3 | 35 | flipper.attach(&flip3,0.05);//0.１秒ごとに回転数cを更新 |
| isshikiyuya | 0:7a6b6c687fa3 | 36 | |
| isshikiyuya | 0:7a6b6c687fa3 | 37 | while(1) { |
| isshikiyuya | 5:8a0721428fa7 | 38 | if( led_count1 + led_count2 > 1000){ //200mm毎にLEDを点滅 |
| isshikiyuya | 0:7a6b6c687fa3 | 39 | LED = 1.0f; |
| isshikiyuya | 5:8a0721428fa7 | 40 | wait(0.01f); |
| isshikiyuya | 0:7a6b6c687fa3 | 41 | LED = 0; |
| isshikiyuya | 0:7a6b6c687fa3 | 42 | led_count1 = 0; |
| isshikiyuya | 0:7a6b6c687fa3 | 43 | led_count2 = 0; |
| isshikiyuya | 0:7a6b6c687fa3 | 44 | } |
| isshikiyuya | 4:282471928d78 | 45 | |
| isshikiyuya | 0:7a6b6c687fa3 | 46 | //////////////////floatのinをintのjudgeに変換 |
| isshikiyuya | 0:7a6b6c687fa3 | 47 | if(in1 > thr1){ |
| isshikiyuya | 0:7a6b6c687fa3 | 48 | judge1 = 1; |
| isshikiyuya | 0:7a6b6c687fa3 | 49 | } |
| isshikiyuya | 0:7a6b6c687fa3 | 50 | else{ |
| isshikiyuya | 0:7a6b6c687fa3 | 51 | judge1 = 0; |
| isshikiyuya | 0:7a6b6c687fa3 | 52 | } |
| isshikiyuya | 0:7a6b6c687fa3 | 53 | if(in2 > thr2){ |
| isshikiyuya | 0:7a6b6c687fa3 | 54 | judge2 = 1; |
| isshikiyuya | 0:7a6b6c687fa3 | 55 | } |
| isshikiyuya | 0:7a6b6c687fa3 | 56 | else{ |
| isshikiyuya | 0:7a6b6c687fa3 | 57 | judge2 = 0; |
| isshikiyuya | 0:7a6b6c687fa3 | 58 | } |
| isshikiyuya | 0:7a6b6c687fa3 | 59 | if(in3 > thr3){ |
| isshikiyuya | 0:7a6b6c687fa3 | 60 | judge3 = 1; |
| isshikiyuya | 0:7a6b6c687fa3 | 61 | } |
| isshikiyuya | 0:7a6b6c687fa3 | 62 | else{ |
| isshikiyuya | 0:7a6b6c687fa3 | 63 | judge3 = 0; |
| isshikiyuya | 0:7a6b6c687fa3 | 64 | } |
| isshikiyuya | 0:7a6b6c687fa3 | 65 | ///////////////// |
| isshikiyuya | 0:7a6b6c687fa3 | 66 | n = judge1 + judge2*2 + judge3*4; |
| isshikiyuya | 4:282471928d78 | 67 | distance = (distance1 + distance2) / 2; |
| isshikiyuya | 5:8a0721428fa7 | 68 | |
| isshikiyuya | 5:8a0721428fa7 | 69 | if(distance < 43*12*10 ){//直線 |
| isshikiyuya | 4:282471928d78 | 70 | |
| isshikiyuya | 4:282471928d78 | 71 | switch(n){ |
| isshikiyuya | 4:282471928d78 | 72 | case(2)://白黒白ゆっくり進む |
| isshikiyuya | 4:282471928d78 | 73 | g = 500.0f; |
| isshikiyuya | 4:282471928d78 | 74 | dif1 = g - c1; |
| isshikiyuya | 4:282471928d78 | 75 | dif2 = g - c2; |
| isshikiyuya | 4:282471928d78 | 76 | gain1 = 0.0006f; |
| isshikiyuya | 4:282471928d78 | 77 | gain2 = 0.0006f; |
| isshikiyuya | 5:8a0721428fa7 | 78 | pwm11.write(0.70f + dif1*gain1); |
| isshikiyuya | 4:282471928d78 | 79 | pwm12.write(0.30f); |
| isshikiyuya | 5:8a0721428fa7 | 80 | pwm21.write(0.70f + dif2*gain2); |
| isshikiyuya | 4:282471928d78 | 81 | pwm22.write(0.30f); |
| isshikiyuya | 4:282471928d78 | 82 | break; |
| isshikiyuya | 4:282471928d78 | 83 | |
| isshikiyuya | 4:282471928d78 | 84 | case(0)://白白白バック |
| isshikiyuya | 4:282471928d78 | 85 | g = 500.0f; |
| isshikiyuya | 4:282471928d78 | 86 | dif1 = g - c1; |
| isshikiyuya | 4:282471928d78 | 87 | dif2 = g - c2; |
| isshikiyuya | 4:282471928d78 | 88 | gain1 = 0.0018f; |
| isshikiyuya | 4:282471928d78 | 89 | gain2 = 0.0018f; |
| isshikiyuya | 4:282471928d78 | 90 | |
| isshikiyuya | 4:282471928d78 | 91 | pwm11.write(0.10f); |
| isshikiyuya | 4:282471928d78 | 92 | pwm12.write(0.30f +dif1*gain1); |
| isshikiyuya | 4:282471928d78 | 93 | pwm21.write(0.10f); |
| isshikiyuya | 4:282471928d78 | 94 | pwm22.write(0.30f +dif2*gain2); |
| isshikiyuya | 4:282471928d78 | 95 | break; |
| isshikiyuya | 4:282471928d78 | 96 | |
| isshikiyuya | 4:282471928d78 | 97 | |
| isshikiyuya | 4:282471928d78 | 98 | |
| isshikiyuya | 4:282471928d78 | 99 | case(1)://黒白白左回転かなり強 |
| isshikiyuya | 4:282471928d78 | 100 | g = 500.0f; |
| isshikiyuya | 4:282471928d78 | 101 | dif1 = g - c1; |
| isshikiyuya | 4:282471928d78 | 102 | dif2 = g - c2; |
| isshikiyuya | 4:282471928d78 | 103 | gain1 = 0.0007f; |
| isshikiyuya | 4:282471928d78 | 104 | gain2 = 0.0007f; |
| isshikiyuya | 4:282471928d78 | 105 | |
| isshikiyuya | 4:282471928d78 | 106 | pwm11.write(0.20f + dif1*gain1); |
| isshikiyuya | 4:282471928d78 | 107 | pwm12.write(0.20f); |
| isshikiyuya | 4:282471928d78 | 108 | pwm21.write(0.70f + dif2*gain2); |
| isshikiyuya | 4:282471928d78 | 109 | pwm22.write(0.20f); |
| isshikiyuya | 4:282471928d78 | 110 | break; |
| isshikiyuya | 4:282471928d78 | 111 | |
| isshikiyuya | 4:282471928d78 | 112 | case(4)://白白黒右回転かなり強 |
| isshikiyuya | 4:282471928d78 | 113 | g = 500.0f; |
| isshikiyuya | 4:282471928d78 | 114 | dif1 = g - c1; |
| isshikiyuya | 4:282471928d78 | 115 | dif2 = g - c2; |
| isshikiyuya | 4:282471928d78 | 116 | gain1 = 0.0007f; |
| isshikiyuya | 4:282471928d78 | 117 | gain2 = 0.0007f; |
| isshikiyuya | 4:282471928d78 | 118 | |
| isshikiyuya | 4:282471928d78 | 119 | pwm11.write(0.70f + dif1*gain1); |
| isshikiyuya | 4:282471928d78 | 120 | pwm12.write(0.20f); |
| isshikiyuya | 4:282471928d78 | 121 | pwm21.write(0.20f); |
| isshikiyuya | 4:282471928d78 | 122 | pwm22.write(0.20f + dif2*gain2); |
| isshikiyuya | 4:282471928d78 | 123 | break; |
| isshikiyuya | 4:282471928d78 | 124 | |
| isshikiyuya | 4:282471928d78 | 125 | case(3)://黒黒白左回転強 |
| isshikiyuya | 4:282471928d78 | 126 | g = 500.0f; |
| isshikiyuya | 4:282471928d78 | 127 | dif1 = g - c1; |
| isshikiyuya | 4:282471928d78 | 128 | dif2 = g - c2; |
| isshikiyuya | 4:282471928d78 | 129 | gain1 = 0.0007f; |
| isshikiyuya | 4:282471928d78 | 130 | gain2 = 0.0007f; |
| isshikiyuya | 4:282471928d78 | 131 | |
| isshikiyuya | 4:282471928d78 | 132 | pwm11.write(0.20f); |
| isshikiyuya | 4:282471928d78 | 133 | pwm12.write(0.20f); |
| isshikiyuya | 4:282471928d78 | 134 | pwm21.write(0.70f + dif2*gain2); |
| isshikiyuya | 4:282471928d78 | 135 | pwm22.write(0.20f); |
| isshikiyuya | 4:282471928d78 | 136 | break; |
| isshikiyuya | 4:282471928d78 | 137 | |
| isshikiyuya | 4:282471928d78 | 138 | case(6)://白黒黒右回転強 |
| isshikiyuya | 4:282471928d78 | 139 | g = 500.0f; |
| isshikiyuya | 4:282471928d78 | 140 | dif1 = g - c1; |
| isshikiyuya | 4:282471928d78 | 141 | dif2 = g - c2; |
| isshikiyuya | 4:282471928d78 | 142 | gain1 = 0.0007f; |
| isshikiyuya | 4:282471928d78 | 143 | gain2 = 0.0007f; |
| isshikiyuya | 4:282471928d78 | 144 | |
| isshikiyuya | 4:282471928d78 | 145 | pwm11.write(0.70f + dif1*gain1); |
| isshikiyuya | 4:282471928d78 | 146 | pwm12.write(0.20f); |
| isshikiyuya | 4:282471928d78 | 147 | pwm21.write(0.20f); |
| isshikiyuya | 4:282471928d78 | 148 | pwm22.write(0.20f); |
| isshikiyuya | 4:282471928d78 | 149 | break; |
| isshikiyuya | 4:282471928d78 | 150 | |
| isshikiyuya | 4:282471928d78 | 151 | case(7)://黒黒黒ゆっくり |
| isshikiyuya | 4:282471928d78 | 152 | dif1 = g - c1; |
| isshikiyuya | 4:282471928d78 | 153 | dif2 = g - c2; |
| isshikiyuya | 4:282471928d78 | 154 | gain1 = 0.0002f; |
| isshikiyuya | 4:282471928d78 | 155 | gain2 = 0.0002f; |
| isshikiyuya | 4:282471928d78 | 156 | |
| isshikiyuya | 5:8a0721428fa7 | 157 | pwm11.write(0.70f + dif1*gain1); |
| isshikiyuya | 4:282471928d78 | 158 | pwm12.write(0.30f); |
| isshikiyuya | 5:8a0721428fa7 | 159 | pwm21.write(0.70f + dif2*gain2); |
| isshikiyuya | 4:282471928d78 | 160 | pwm22.write(0.30f); |
| isshikiyuya | 4:282471928d78 | 161 | break; |
| isshikiyuya | 4:282471928d78 | 162 | |
| isshikiyuya | 4:282471928d78 | 163 | default://それ以外(多分ないけど) |
| isshikiyuya | 4:282471928d78 | 164 | pwm11.write(0.10f); |
| isshikiyuya | 4:282471928d78 | 165 | pwm12.write(0.50f); |
| isshikiyuya | 4:282471928d78 | 166 | pwm21.write(0.10f); |
| isshikiyuya | 4:282471928d78 | 167 | pwm22.write(0.50f); |
| isshikiyuya | 4:282471928d78 | 168 | break; |
| isshikiyuya | 4:282471928d78 | 169 | |
| isshikiyuya | 4:282471928d78 | 170 | } |
| isshikiyuya | 4:282471928d78 | 171 | } |
| isshikiyuya | 4:282471928d78 | 172 | |
| isshikiyuya | 5:8a0721428fa7 | 173 | /* else if(43*12*10< distance && distance< 43*12*13 ){ |
| isshikiyuya | 4:282471928d78 | 174 | |
| isshikiyuya | 0:7a6b6c687fa3 | 175 | switch(n){ |
| isshikiyuya | 0:7a6b6c687fa3 | 176 | case(2)://白黒白ゆっくり進む |
| isshikiyuya | 0:7a6b6c687fa3 | 177 | g = 500.0f; |
| isshikiyuya | 1:f6b396987546 | 178 | dif1 = g - c1; |
| isshikiyuya | 1:f6b396987546 | 179 | dif2 = g - c2; |
| isshikiyuya | 0:7a6b6c687fa3 | 180 | gain1 = 0.0006f; |
| isshikiyuya | 0:7a6b6c687fa3 | 181 | gain2 = 0.0006f; |
| isshikiyuya | 1:f6b396987546 | 182 | pwm11.write(0.50f + dif1*gain1); |
| isshikiyuya | 0:7a6b6c687fa3 | 183 | pwm12.write(0.30f); |
| isshikiyuya | 1:f6b396987546 | 184 | pwm21.write(0.50f + dif2*gain2); |
| isshikiyuya | 0:7a6b6c687fa3 | 185 | pwm22.write(0.30f); |
| isshikiyuya | 0:7a6b6c687fa3 | 186 | break; |
| isshikiyuya | 0:7a6b6c687fa3 | 187 | |
| isshikiyuya | 0:7a6b6c687fa3 | 188 | case(0)://白白白バック |
| isshikiyuya | 0:7a6b6c687fa3 | 189 | g = 500.0f; |
| isshikiyuya | 0:7a6b6c687fa3 | 190 | dif1 = g - c1; |
| isshikiyuya | 0:7a6b6c687fa3 | 191 | dif2 = g - c2; |
| isshikiyuya | 4:282471928d78 | 192 | gain1 = 0.0018f; |
| isshikiyuya | 4:282471928d78 | 193 | gain2 = 0.0018f; |
| isshikiyuya | 0:7a6b6c687fa3 | 194 | |
| isshikiyuya | 0:7a6b6c687fa3 | 195 | pwm11.write(0.10f); |
| isshikiyuya | 2:fef6e8a45d71 | 196 | pwm12.write(0.30f +dif1*gain1); |
| isshikiyuya | 0:7a6b6c687fa3 | 197 | pwm21.write(0.10f); |
| isshikiyuya | 2:fef6e8a45d71 | 198 | pwm22.write(0.30f +dif2*gain2); |
| isshikiyuya | 0:7a6b6c687fa3 | 199 | break; |
| isshikiyuya | 0:7a6b6c687fa3 | 200 | |
| isshikiyuya | 0:7a6b6c687fa3 | 201 | |
| isshikiyuya | 0:7a6b6c687fa3 | 202 | |
| isshikiyuya | 0:7a6b6c687fa3 | 203 | case(1)://黒白白左回転かなり強 |
| isshikiyuya | 0:7a6b6c687fa3 | 204 | g = 500.0f; |
| isshikiyuya | 0:7a6b6c687fa3 | 205 | dif1 = g - c1; |
| isshikiyuya | 0:7a6b6c687fa3 | 206 | dif2 = g - c2; |
| isshikiyuya | 3:55588b59ab29 | 207 | gain1 = 0.0007f; |
| isshikiyuya | 3:55588b59ab29 | 208 | gain2 = 0.0007f; |
| isshikiyuya | 0:7a6b6c687fa3 | 209 | |
| isshikiyuya | 3:55588b59ab29 | 210 | pwm11.write(0.20f + dif1*gain1); |
| isshikiyuya | 3:55588b59ab29 | 211 | pwm12.write(0.20f); |
| isshikiyuya | 3:55588b59ab29 | 212 | pwm21.write(0.70f + dif2*gain2); |
| isshikiyuya | 3:55588b59ab29 | 213 | pwm22.write(0.20f); |
| isshikiyuya | 0:7a6b6c687fa3 | 214 | break; |
| isshikiyuya | 0:7a6b6c687fa3 | 215 | |
| isshikiyuya | 0:7a6b6c687fa3 | 216 | case(4)://白白黒右回転かなり強 |
| isshikiyuya | 0:7a6b6c687fa3 | 217 | g = 500.0f; |
| isshikiyuya | 0:7a6b6c687fa3 | 218 | dif1 = g - c1; |
| isshikiyuya | 0:7a6b6c687fa3 | 219 | dif2 = g - c2; |
| isshikiyuya | 3:55588b59ab29 | 220 | gain1 = 0.0007f; |
| isshikiyuya | 3:55588b59ab29 | 221 | gain2 = 0.0007f; |
| isshikiyuya | 0:7a6b6c687fa3 | 222 | |
| isshikiyuya | 3:55588b59ab29 | 223 | pwm11.write(0.70f + dif1*gain1); |
| isshikiyuya | 3:55588b59ab29 | 224 | pwm12.write(0.20f); |
| isshikiyuya | 3:55588b59ab29 | 225 | pwm21.write(0.20f); |
| isshikiyuya | 3:55588b59ab29 | 226 | pwm22.write(0.20f + dif2*gain2); |
| isshikiyuya | 0:7a6b6c687fa3 | 227 | break; |
| isshikiyuya | 0:7a6b6c687fa3 | 228 | |
| isshikiyuya | 0:7a6b6c687fa3 | 229 | case(3)://黒黒白左回転強 |
| isshikiyuya | 0:7a6b6c687fa3 | 230 | g = 500.0f; |
| isshikiyuya | 0:7a6b6c687fa3 | 231 | dif1 = g - c1; |
| isshikiyuya | 0:7a6b6c687fa3 | 232 | dif2 = g - c2; |
| isshikiyuya | 3:55588b59ab29 | 233 | gain1 = 0.0007f; |
| isshikiyuya | 3:55588b59ab29 | 234 | gain2 = 0.0007f; |
| isshikiyuya | 0:7a6b6c687fa3 | 235 | |
| isshikiyuya | 3:55588b59ab29 | 236 | pwm11.write(0.20f); |
| isshikiyuya | 3:55588b59ab29 | 237 | pwm12.write(0.20f); |
| isshikiyuya | 2:fef6e8a45d71 | 238 | pwm21.write(0.70f + dif2*gain2); |
| isshikiyuya | 0:7a6b6c687fa3 | 239 | pwm22.write(0.20f); |
| isshikiyuya | 0:7a6b6c687fa3 | 240 | break; |
| isshikiyuya | 0:7a6b6c687fa3 | 241 | |
| isshikiyuya | 0:7a6b6c687fa3 | 242 | case(6)://白黒黒右回転強 |
| isshikiyuya | 0:7a6b6c687fa3 | 243 | g = 500.0f; |
| isshikiyuya | 0:7a6b6c687fa3 | 244 | dif1 = g - c1; |
| isshikiyuya | 0:7a6b6c687fa3 | 245 | dif2 = g - c2; |
| isshikiyuya | 3:55588b59ab29 | 246 | gain1 = 0.0007f; |
| isshikiyuya | 3:55588b59ab29 | 247 | gain2 = 0.0007f; |
| isshikiyuya | 0:7a6b6c687fa3 | 248 | |
| isshikiyuya | 2:fef6e8a45d71 | 249 | pwm11.write(0.70f + dif1*gain1); |
| isshikiyuya | 0:7a6b6c687fa3 | 250 | pwm12.write(0.20f); |
| isshikiyuya | 3:55588b59ab29 | 251 | pwm21.write(0.20f); |
| isshikiyuya | 3:55588b59ab29 | 252 | pwm22.write(0.20f); |
| isshikiyuya | 0:7a6b6c687fa3 | 253 | break; |
| isshikiyuya | 0:7a6b6c687fa3 | 254 | |
| isshikiyuya | 0:7a6b6c687fa3 | 255 | case(7)://黒黒黒ゆっくり |
| isshikiyuya | 0:7a6b6c687fa3 | 256 | dif1 = g - c1; |
| isshikiyuya | 0:7a6b6c687fa3 | 257 | dif2 = g - c2; |
| isshikiyuya | 1:f6b396987546 | 258 | gain1 = 0.0002f; |
| isshikiyuya | 1:f6b396987546 | 259 | gain2 = 0.0002f; |
| isshikiyuya | 0:7a6b6c687fa3 | 260 | |
| isshikiyuya | 1:f6b396987546 | 261 | pwm11.write(0.50f + dif1*gain1); |
| isshikiyuya | 0:7a6b6c687fa3 | 262 | pwm12.write(0.30f); |
| isshikiyuya | 1:f6b396987546 | 263 | pwm21.write(0.50f + dif2*gain2); |
| isshikiyuya | 0:7a6b6c687fa3 | 264 | pwm22.write(0.30f); |
| isshikiyuya | 0:7a6b6c687fa3 | 265 | break; |
| isshikiyuya | 0:7a6b6c687fa3 | 266 | |
| isshikiyuya | 0:7a6b6c687fa3 | 267 | default://それ以外(多分ないけど) |
| isshikiyuya | 0:7a6b6c687fa3 | 268 | pwm11.write(0.10f); |
| isshikiyuya | 3:55588b59ab29 | 269 | pwm12.write(0.50f); |
| isshikiyuya | 0:7a6b6c687fa3 | 270 | pwm21.write(0.10f); |
| isshikiyuya | 3:55588b59ab29 | 271 | pwm22.write(0.50f); |
| isshikiyuya | 0:7a6b6c687fa3 | 272 | break; |
| isshikiyuya | 0:7a6b6c687fa3 | 273 | |
| isshikiyuya | 0:7a6b6c687fa3 | 274 | } |
| isshikiyuya | 0:7a6b6c687fa3 | 275 | } |
| isshikiyuya | 5:8a0721428fa7 | 276 | */ |
| isshikiyuya | 5:8a0721428fa7 | 277 | else if(43*12*10 < distance && distance < 43*12*18){ |
| isshikiyuya | 4:282471928d78 | 278 | switch(n){ |
| isshikiyuya | 4:282471928d78 | 279 | case(2)://白黒白ゆっくり進む |
| isshikiyuya | 4:282471928d78 | 280 | g = 500.0f; |
| isshikiyuya | 4:282471928d78 | 281 | dif1 = g - c1; |
| isshikiyuya | 4:282471928d78 | 282 | dif2 = g - c2; |
| isshikiyuya | 5:8a0721428fa7 | 283 | gain1 = 0.0013f; |
| isshikiyuya | 5:8a0721428fa7 | 284 | gain2 = 0.0013f; |
| isshikiyuya | 5:8a0721428fa7 | 285 | pwm11.write(0.45f + dif1*gain1); |
| isshikiyuya | 5:8a0721428fa7 | 286 | pwm12.write(0.30f); |
| isshikiyuya | 5:8a0721428fa7 | 287 | pwm21.write(0.45f + dif2*gain2); |
| isshikiyuya | 5:8a0721428fa7 | 288 | pwm22.write(0.30f); |
| isshikiyuya | 5:8a0721428fa7 | 289 | break; |
| isshikiyuya | 5:8a0721428fa7 | 290 | |
| isshikiyuya | 5:8a0721428fa7 | 291 | case(0)://白白白バック |
| isshikiyuya | 5:8a0721428fa7 | 292 | g = 500.0f; |
| isshikiyuya | 5:8a0721428fa7 | 293 | dif1 = g - c1; |
| isshikiyuya | 5:8a0721428fa7 | 294 | dif2 = g - c2; |
| isshikiyuya | 5:8a0721428fa7 | 295 | gain1 = 0.002f; |
| isshikiyuya | 5:8a0721428fa7 | 296 | gain2 = 0.002f; |
| isshikiyuya | 5:8a0721428fa7 | 297 | |
| isshikiyuya | 5:8a0721428fa7 | 298 | pwm11.write(0.10f); |
| isshikiyuya | 5:8a0721428fa7 | 299 | pwm12.write(0.30f +dif1*gain1); |
| isshikiyuya | 5:8a0721428fa7 | 300 | pwm21.write(0.10f); |
| isshikiyuya | 5:8a0721428fa7 | 301 | pwm22.write(0.30f +dif2*gain2); |
| isshikiyuya | 5:8a0721428fa7 | 302 | break; |
| isshikiyuya | 5:8a0721428fa7 | 303 | |
| isshikiyuya | 5:8a0721428fa7 | 304 | |
| isshikiyuya | 5:8a0721428fa7 | 305 | |
| isshikiyuya | 5:8a0721428fa7 | 306 | case(1)://黒白白左回転かなり強 |
| isshikiyuya | 5:8a0721428fa7 | 307 | g = 500.0f; |
| isshikiyuya | 5:8a0721428fa7 | 308 | dif1 = g - c1; |
| isshikiyuya | 5:8a0721428fa7 | 309 | dif2 = g - c2; |
| isshikiyuya | 5:8a0721428fa7 | 310 | gain1 = 0.001f; |
| isshikiyuya | 5:8a0721428fa7 | 311 | gain2 = 0.001f; |
| isshikiyuya | 5:8a0721428fa7 | 312 | |
| isshikiyuya | 5:8a0721428fa7 | 313 | pwm11.write(0.20f + dif1*gain1); |
| isshikiyuya | 5:8a0721428fa7 | 314 | pwm12.write(0.20f); |
| isshikiyuya | 5:8a0721428fa7 | 315 | pwm21.write(0.55f + dif2*gain2); |
| isshikiyuya | 5:8a0721428fa7 | 316 | pwm22.write(0.20f); |
| isshikiyuya | 5:8a0721428fa7 | 317 | break; |
| isshikiyuya | 5:8a0721428fa7 | 318 | |
| isshikiyuya | 5:8a0721428fa7 | 319 | case(4)://白白黒右回転かなり強 |
| isshikiyuya | 5:8a0721428fa7 | 320 | g = 500.0f; |
| isshikiyuya | 5:8a0721428fa7 | 321 | dif1 = g - c1; |
| isshikiyuya | 5:8a0721428fa7 | 322 | dif2 = g - c2; |
| isshikiyuya | 4:282471928d78 | 323 | gain1 = 0.001f; |
| isshikiyuya | 4:282471928d78 | 324 | gain2 = 0.001f; |
| isshikiyuya | 5:8a0721428fa7 | 325 | |
| isshikiyuya | 5:8a0721428fa7 | 326 | pwm11.write(0.55f + dif1*gain1); |
| isshikiyuya | 5:8a0721428fa7 | 327 | pwm12.write(0.20f); |
| isshikiyuya | 5:8a0721428fa7 | 328 | pwm21.write(0.20f); |
| isshikiyuya | 5:8a0721428fa7 | 329 | pwm22.write(0.20f + dif2*gain2); |
| isshikiyuya | 5:8a0721428fa7 | 330 | break; |
| isshikiyuya | 5:8a0721428fa7 | 331 | |
| isshikiyuya | 5:8a0721428fa7 | 332 | case(3)://黒黒白左回転強 |
| isshikiyuya | 5:8a0721428fa7 | 333 | g = 500.0f; |
| isshikiyuya | 5:8a0721428fa7 | 334 | dif1 = g - c1; |
| isshikiyuya | 5:8a0721428fa7 | 335 | dif2 = g - c2; |
| isshikiyuya | 5:8a0721428fa7 | 336 | gain1 = 0.001f; |
| isshikiyuya | 5:8a0721428fa7 | 337 | gain2 = 0.001f; |
| isshikiyuya | 5:8a0721428fa7 | 338 | |
| isshikiyuya | 5:8a0721428fa7 | 339 | pwm11.write(0.20f); |
| isshikiyuya | 5:8a0721428fa7 | 340 | pwm12.write(0.20f); |
| isshikiyuya | 5:8a0721428fa7 | 341 | pwm21.write(0.55f + dif2*gain2); |
| isshikiyuya | 5:8a0721428fa7 | 342 | pwm22.write(0.20f); |
| isshikiyuya | 5:8a0721428fa7 | 343 | break; |
| isshikiyuya | 5:8a0721428fa7 | 344 | |
| isshikiyuya | 5:8a0721428fa7 | 345 | case(6)://白黒黒右回転強 |
| isshikiyuya | 5:8a0721428fa7 | 346 | g = 500.0f; |
| isshikiyuya | 5:8a0721428fa7 | 347 | dif1 = g - c1; |
| isshikiyuya | 5:8a0721428fa7 | 348 | dif2 = g - c2; |
| isshikiyuya | 5:8a0721428fa7 | 349 | gain1 = 0.001f; |
| isshikiyuya | 5:8a0721428fa7 | 350 | gain2 = 0.001f; |
| isshikiyuya | 5:8a0721428fa7 | 351 | |
| isshikiyuya | 5:8a0721428fa7 | 352 | pwm11.write(0.55f + dif1*gain1); |
| isshikiyuya | 5:8a0721428fa7 | 353 | pwm12.write(0.20f); |
| isshikiyuya | 5:8a0721428fa7 | 354 | pwm21.write(0.20f); |
| isshikiyuya | 5:8a0721428fa7 | 355 | pwm22.write(0.20f); |
| isshikiyuya | 5:8a0721428fa7 | 356 | break; |
| isshikiyuya | 5:8a0721428fa7 | 357 | |
| isshikiyuya | 5:8a0721428fa7 | 358 | case(7)://黒黒黒ゆっくり |
| isshikiyuya | 5:8a0721428fa7 | 359 | dif1 = g - c1; |
| isshikiyuya | 5:8a0721428fa7 | 360 | dif2 = g - c2; |
| isshikiyuya | 5:8a0721428fa7 | 361 | gain1 = 0.0013f; |
| isshikiyuya | 5:8a0721428fa7 | 362 | gain2 = 0.0013f; |
| isshikiyuya | 5:8a0721428fa7 | 363 | |
| isshikiyuya | 5:8a0721428fa7 | 364 | pwm11.write(0.45f + dif1*gain1); |
| isshikiyuya | 4:282471928d78 | 365 | pwm12.write(0.30f); |
| isshikiyuya | 5:8a0721428fa7 | 366 | pwm21.write(0.45f + dif2*gain2); |
| isshikiyuya | 5:8a0721428fa7 | 367 | pwm22.write(0.30f); |
| isshikiyuya | 5:8a0721428fa7 | 368 | break; |
| isshikiyuya | 5:8a0721428fa7 | 369 | |
| isshikiyuya | 5:8a0721428fa7 | 370 | default://それ以外(多分ないけど) |
| isshikiyuya | 5:8a0721428fa7 | 371 | pwm11.write(0.10f); |
| isshikiyuya | 5:8a0721428fa7 | 372 | pwm12.write(0.50f); |
| isshikiyuya | 5:8a0721428fa7 | 373 | pwm21.write(0.10f); |
| isshikiyuya | 5:8a0721428fa7 | 374 | pwm22.write(0.50f); |
| isshikiyuya | 5:8a0721428fa7 | 375 | break; |
| isshikiyuya | 5:8a0721428fa7 | 376 | } |
| isshikiyuya | 5:8a0721428fa7 | 377 | } |
| isshikiyuya | 5:8a0721428fa7 | 378 | |
| isshikiyuya | 5:8a0721428fa7 | 379 | |
| isshikiyuya | 5:8a0721428fa7 | 380 | else if(43*12*18 < distance && distance < 43*12*24){//第二直線 |
| isshikiyuya | 5:8a0721428fa7 | 381 | switch(n){ |
| isshikiyuya | 5:8a0721428fa7 | 382 | case(2)://白黒白ゆっくり進む |
| isshikiyuya | 5:8a0721428fa7 | 383 | g = 500.0f; |
| isshikiyuya | 5:8a0721428fa7 | 384 | dif1 = g - c1; |
| isshikiyuya | 5:8a0721428fa7 | 385 | dif2 = g - c2; |
| isshikiyuya | 5:8a0721428fa7 | 386 | gain1 = 0.0007f; |
| isshikiyuya | 5:8a0721428fa7 | 387 | gain2 = 0.0007f; |
| isshikiyuya | 5:8a0721428fa7 | 388 | pwm11.write(0.70f + dif1*gain1); |
| isshikiyuya | 5:8a0721428fa7 | 389 | pwm12.write(0.30f); |
| isshikiyuya | 5:8a0721428fa7 | 390 | pwm21.write(0.70f + dif2*gain2); |
| isshikiyuya | 4:282471928d78 | 391 | pwm22.write(0.30f); |
| isshikiyuya | 4:282471928d78 | 392 | break; |
| isshikiyuya | 4:282471928d78 | 393 | |
| isshikiyuya | 4:282471928d78 | 394 | case(0)://白白白バック |
| isshikiyuya | 4:282471928d78 | 395 | g = 500.0f; |
| isshikiyuya | 4:282471928d78 | 396 | dif1 = g - c1; |
| isshikiyuya | 4:282471928d78 | 397 | dif2 = g - c2; |
| isshikiyuya | 4:282471928d78 | 398 | gain1 = 0.0018f; |
| isshikiyuya | 4:282471928d78 | 399 | gain2 = 0.0018f; |
| isshikiyuya | 4:282471928d78 | 400 | |
| isshikiyuya | 4:282471928d78 | 401 | pwm11.write(0.10f); |
| isshikiyuya | 4:282471928d78 | 402 | pwm12.write(0.30f +dif1*gain1); |
| isshikiyuya | 4:282471928d78 | 403 | pwm21.write(0.10f); |
| isshikiyuya | 4:282471928d78 | 404 | pwm22.write(0.30f +dif2*gain2); |
| isshikiyuya | 4:282471928d78 | 405 | break; |
| isshikiyuya | 4:282471928d78 | 406 | |
| isshikiyuya | 4:282471928d78 | 407 | |
| isshikiyuya | 4:282471928d78 | 408 | |
| isshikiyuya | 4:282471928d78 | 409 | case(1)://黒白白左回転かなり強 |
| isshikiyuya | 4:282471928d78 | 410 | g = 500.0f; |
| isshikiyuya | 4:282471928d78 | 411 | dif1 = g - c1; |
| isshikiyuya | 4:282471928d78 | 412 | dif2 = g - c2; |
| isshikiyuya | 4:282471928d78 | 413 | gain1 = 0.0007f; |
| isshikiyuya | 4:282471928d78 | 414 | gain2 = 0.0007f; |
| isshikiyuya | 4:282471928d78 | 415 | |
| isshikiyuya | 4:282471928d78 | 416 | pwm11.write(0.20f + dif1*gain1); |
| isshikiyuya | 4:282471928d78 | 417 | pwm12.write(0.20f); |
| isshikiyuya | 4:282471928d78 | 418 | pwm21.write(0.50f + dif2*gain2); |
| isshikiyuya | 4:282471928d78 | 419 | pwm22.write(0.20f); |
| isshikiyuya | 4:282471928d78 | 420 | break; |
| isshikiyuya | 4:282471928d78 | 421 | |
| isshikiyuya | 4:282471928d78 | 422 | case(4)://白白黒右回転かなり強 |
| isshikiyuya | 4:282471928d78 | 423 | g = 500.0f; |
| isshikiyuya | 4:282471928d78 | 424 | dif1 = g - c1; |
| isshikiyuya | 4:282471928d78 | 425 | dif2 = g - c2; |
| isshikiyuya | 4:282471928d78 | 426 | gain1 = 0.0007f; |
| isshikiyuya | 4:282471928d78 | 427 | gain2 = 0.0007f; |
| isshikiyuya | 4:282471928d78 | 428 | |
| isshikiyuya | 4:282471928d78 | 429 | pwm11.write(0.50f + dif1*gain1); |
| isshikiyuya | 4:282471928d78 | 430 | pwm12.write(0.20f); |
| isshikiyuya | 4:282471928d78 | 431 | pwm21.write(0.20f); |
| isshikiyuya | 4:282471928d78 | 432 | pwm22.write(0.20f + dif2*gain2); |
| isshikiyuya | 4:282471928d78 | 433 | break; |
| isshikiyuya | 4:282471928d78 | 434 | |
| isshikiyuya | 4:282471928d78 | 435 | case(3)://黒黒白左回転強 |
| isshikiyuya | 4:282471928d78 | 436 | g = 500.0f; |
| isshikiyuya | 4:282471928d78 | 437 | dif1 = g - c1; |
| isshikiyuya | 4:282471928d78 | 438 | dif2 = g - c2; |
| isshikiyuya | 4:282471928d78 | 439 | gain1 = 0.0007f; |
| isshikiyuya | 4:282471928d78 | 440 | gain2 = 0.0007f; |
| isshikiyuya | 4:282471928d78 | 441 | |
| isshikiyuya | 4:282471928d78 | 442 | pwm11.write(0.20f); |
| isshikiyuya | 4:282471928d78 | 443 | pwm12.write(0.20f); |
| isshikiyuya | 4:282471928d78 | 444 | pwm21.write(0.50f + dif2*gain2); |
| isshikiyuya | 4:282471928d78 | 445 | pwm22.write(0.20f); |
| isshikiyuya | 4:282471928d78 | 446 | break; |
| isshikiyuya | 4:282471928d78 | 447 | |
| isshikiyuya | 4:282471928d78 | 448 | case(6)://白黒黒右回転強 |
| isshikiyuya | 4:282471928d78 | 449 | g = 500.0f; |
| isshikiyuya | 4:282471928d78 | 450 | dif1 = g - c1; |
| isshikiyuya | 4:282471928d78 | 451 | dif2 = g - c2; |
| isshikiyuya | 4:282471928d78 | 452 | gain1 = 0.0007f; |
| isshikiyuya | 4:282471928d78 | 453 | gain2 = 0.0007f; |
| isshikiyuya | 4:282471928d78 | 454 | |
| isshikiyuya | 4:282471928d78 | 455 | pwm11.write(0.50f + dif1*gain1); |
| isshikiyuya | 4:282471928d78 | 456 | pwm12.write(0.20f); |
| isshikiyuya | 4:282471928d78 | 457 | pwm21.write(0.20f); |
| isshikiyuya | 4:282471928d78 | 458 | pwm22.write(0.20f); |
| isshikiyuya | 4:282471928d78 | 459 | break; |
| isshikiyuya | 4:282471928d78 | 460 | |
| isshikiyuya | 4:282471928d78 | 461 | case(7)://黒黒黒ゆっくり |
| isshikiyuya | 4:282471928d78 | 462 | dif1 = g - c1; |
| isshikiyuya | 4:282471928d78 | 463 | dif2 = g - c2; |
| isshikiyuya | 4:282471928d78 | 464 | gain1 = 0.001f; |
| isshikiyuya | 4:282471928d78 | 465 | gain2 = 0.001f; |
| isshikiyuya | 4:282471928d78 | 466 | |
| isshikiyuya | 5:8a0721428fa7 | 467 | pwm11.write(0.60f + dif1*gain1); |
| isshikiyuya | 4:282471928d78 | 468 | pwm12.write(0.30f); |
| isshikiyuya | 5:8a0721428fa7 | 469 | pwm21.write(0.60f + dif2*gain2); |
| isshikiyuya | 4:282471928d78 | 470 | pwm22.write(0.30f); |
| isshikiyuya | 4:282471928d78 | 471 | break; |
| isshikiyuya | 4:282471928d78 | 472 | |
| isshikiyuya | 4:282471928d78 | 473 | default://それ以外(多分ないけど) |
| isshikiyuya | 4:282471928d78 | 474 | pwm11.write(0.10f); |
| isshikiyuya | 4:282471928d78 | 475 | pwm12.write(0.50f); |
| isshikiyuya | 4:282471928d78 | 476 | pwm21.write(0.10f); |
| isshikiyuya | 4:282471928d78 | 477 | pwm22.write(0.50f); |
| isshikiyuya | 4:282471928d78 | 478 | break; |
| isshikiyuya | 4:282471928d78 | 479 | } |
| isshikiyuya | 4:282471928d78 | 480 | } |
| isshikiyuya | 4:282471928d78 | 481 | |
| isshikiyuya | 4:282471928d78 | 482 | |
| isshikiyuya | 4:282471928d78 | 483 | |
| isshikiyuya | 4:282471928d78 | 484 | else if(distance>43*12*24){ |
| isshikiyuya | 4:282471928d78 | 485 | |
| isshikiyuya | 4:282471928d78 | 486 | switch(n){ |
| isshikiyuya | 4:282471928d78 | 487 | case(2)://白黒白ゆっくり進む |
| isshikiyuya | 4:282471928d78 | 488 | g = 500.0f; |
| isshikiyuya | 4:282471928d78 | 489 | dif1 = g - c1; |
| isshikiyuya | 4:282471928d78 | 490 | dif2 = g - c2; |
| isshikiyuya | 5:8a0721428fa7 | 491 | gain1 = 0.0013f; |
| isshikiyuya | 5:8a0721428fa7 | 492 | gain2 = 0.0013f; |
| isshikiyuya | 5:8a0721428fa7 | 493 | pwm11.write(0.45f + dif1*gain1); |
| isshikiyuya | 4:282471928d78 | 494 | pwm12.write(0.30f); |
| isshikiyuya | 5:8a0721428fa7 | 495 | pwm21.write(0.45f + dif2*gain2); |
| isshikiyuya | 4:282471928d78 | 496 | pwm22.write(0.30f); |
| isshikiyuya | 4:282471928d78 | 497 | break; |
| isshikiyuya | 4:282471928d78 | 498 | |
| isshikiyuya | 4:282471928d78 | 499 | case(0)://白白白バック |
| isshikiyuya | 4:282471928d78 | 500 | g = 500.0f; |
| isshikiyuya | 4:282471928d78 | 501 | dif1 = g - c1; |
| isshikiyuya | 4:282471928d78 | 502 | dif2 = g - c2; |
| isshikiyuya | 5:8a0721428fa7 | 503 | gain1 = 0.002f; |
| isshikiyuya | 5:8a0721428fa7 | 504 | gain2 = 0.002f; |
| isshikiyuya | 4:282471928d78 | 505 | |
| isshikiyuya | 4:282471928d78 | 506 | pwm11.write(0.10f); |
| isshikiyuya | 4:282471928d78 | 507 | pwm12.write(0.30f +dif1*gain1); |
| isshikiyuya | 4:282471928d78 | 508 | pwm21.write(0.10f); |
| isshikiyuya | 4:282471928d78 | 509 | pwm22.write(0.30f +dif2*gain2); |
| isshikiyuya | 4:282471928d78 | 510 | break; |
| isshikiyuya | 4:282471928d78 | 511 | |
| isshikiyuya | 4:282471928d78 | 512 | |
| isshikiyuya | 4:282471928d78 | 513 | |
| isshikiyuya | 4:282471928d78 | 514 | case(1)://黒白白左回転かなり強 |
| isshikiyuya | 4:282471928d78 | 515 | g = 500.0f; |
| isshikiyuya | 4:282471928d78 | 516 | dif1 = g - c1; |
| isshikiyuya | 4:282471928d78 | 517 | dif2 = g - c2; |
| isshikiyuya | 5:8a0721428fa7 | 518 | gain1 = 0.0011f; |
| isshikiyuya | 5:8a0721428fa7 | 519 | gain2 = 0.0011f; |
| isshikiyuya | 4:282471928d78 | 520 | |
| isshikiyuya | 4:282471928d78 | 521 | pwm11.write(0.20f + dif1*gain1); |
| isshikiyuya | 4:282471928d78 | 522 | pwm12.write(0.20f); |
| isshikiyuya | 5:8a0721428fa7 | 523 | pwm21.write(0.60f + dif2*gain2); |
| isshikiyuya | 4:282471928d78 | 524 | pwm22.write(0.20f); |
| isshikiyuya | 4:282471928d78 | 525 | break; |
| isshikiyuya | 4:282471928d78 | 526 | |
| isshikiyuya | 4:282471928d78 | 527 | case(4)://白白黒右回転かなり強 |
| isshikiyuya | 4:282471928d78 | 528 | g = 500.0f; |
| isshikiyuya | 4:282471928d78 | 529 | dif1 = g - c1; |
| isshikiyuya | 4:282471928d78 | 530 | dif2 = g - c2; |
| isshikiyuya | 5:8a0721428fa7 | 531 | gain1 = 0.0011f; |
| isshikiyuya | 5:8a0721428fa7 | 532 | gain2 = 0.0011f; |
| isshikiyuya | 4:282471928d78 | 533 | |
| isshikiyuya | 5:8a0721428fa7 | 534 | pwm11.write(0.60f + dif1*gain1); |
| isshikiyuya | 4:282471928d78 | 535 | pwm12.write(0.20f); |
| isshikiyuya | 4:282471928d78 | 536 | pwm21.write(0.20f); |
| isshikiyuya | 4:282471928d78 | 537 | pwm22.write(0.20f + dif2*gain2); |
| isshikiyuya | 4:282471928d78 | 538 | break; |
| isshikiyuya | 4:282471928d78 | 539 | |
| isshikiyuya | 4:282471928d78 | 540 | case(3)://黒黒白左回転強 |
| isshikiyuya | 4:282471928d78 | 541 | g = 500.0f; |
| isshikiyuya | 4:282471928d78 | 542 | dif1 = g - c1; |
| isshikiyuya | 4:282471928d78 | 543 | dif2 = g - c2; |
| isshikiyuya | 5:8a0721428fa7 | 544 | gain1 = 0.0011f; |
| isshikiyuya | 5:8a0721428fa7 | 545 | gain2 = 0.0011f; |
| isshikiyuya | 4:282471928d78 | 546 | |
| isshikiyuya | 4:282471928d78 | 547 | pwm11.write(0.20f); |
| isshikiyuya | 4:282471928d78 | 548 | pwm12.write(0.20f); |
| isshikiyuya | 5:8a0721428fa7 | 549 | pwm21.write(0.60f + dif2*gain2); |
| isshikiyuya | 4:282471928d78 | 550 | pwm22.write(0.20f); |
| isshikiyuya | 4:282471928d78 | 551 | break; |
| isshikiyuya | 4:282471928d78 | 552 | |
| isshikiyuya | 4:282471928d78 | 553 | case(6)://白黒黒右回転強 |
| isshikiyuya | 4:282471928d78 | 554 | g = 500.0f; |
| isshikiyuya | 4:282471928d78 | 555 | dif1 = g - c1; |
| isshikiyuya | 4:282471928d78 | 556 | dif2 = g - c2; |
| isshikiyuya | 5:8a0721428fa7 | 557 | gain1 = 0.0011f; |
| isshikiyuya | 5:8a0721428fa7 | 558 | gain2 = 0.0011f; |
| isshikiyuya | 4:282471928d78 | 559 | |
| isshikiyuya | 5:8a0721428fa7 | 560 | pwm11.write(0.60f + dif1*gain1); |
| isshikiyuya | 4:282471928d78 | 561 | pwm12.write(0.20f); |
| isshikiyuya | 4:282471928d78 | 562 | pwm21.write(0.20f); |
| isshikiyuya | 4:282471928d78 | 563 | pwm22.write(0.20f); |
| isshikiyuya | 4:282471928d78 | 564 | break; |
| isshikiyuya | 4:282471928d78 | 565 | |
| isshikiyuya | 4:282471928d78 | 566 | case(7)://黒黒黒ゆっくり |
| isshikiyuya | 4:282471928d78 | 567 | dif1 = g - c1; |
| isshikiyuya | 4:282471928d78 | 568 | dif2 = g - c2; |
| isshikiyuya | 5:8a0721428fa7 | 569 | gain1 = 0.0013f; |
| isshikiyuya | 5:8a0721428fa7 | 570 | gain2 = 0.0013f; |
| isshikiyuya | 4:282471928d78 | 571 | |
| isshikiyuya | 5:8a0721428fa7 | 572 | pwm11.write(0.45f + dif1*gain1); |
| isshikiyuya | 4:282471928d78 | 573 | pwm12.write(0.30f); |
| isshikiyuya | 5:8a0721428fa7 | 574 | pwm21.write(0.45f + dif2*gain2); |
| isshikiyuya | 4:282471928d78 | 575 | pwm22.write(0.30f); |
| isshikiyuya | 4:282471928d78 | 576 | break; |
| isshikiyuya | 4:282471928d78 | 577 | |
| isshikiyuya | 4:282471928d78 | 578 | default://それ以外(多分ないけど) |
| isshikiyuya | 4:282471928d78 | 579 | pwm11.write(0.10f); |
| isshikiyuya | 4:282471928d78 | 580 | pwm12.write(0.50f); |
| isshikiyuya | 4:282471928d78 | 581 | pwm21.write(0.10f); |
| isshikiyuya | 4:282471928d78 | 582 | pwm22.write(0.50f); |
| isshikiyuya | 4:282471928d78 | 583 | break; |
| isshikiyuya | 4:282471928d78 | 584 | } |
| isshikiyuya | 4:282471928d78 | 585 | } |
| isshikiyuya | 4:282471928d78 | 586 | |
| isshikiyuya | 4:282471928d78 | 587 | |
| isshikiyuya | 4:282471928d78 | 588 | } |
| isshikiyuya | 4:282471928d78 | 589 | } |