mech
/
Line_Trace_Pro_NEW11
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Dependencies: mbed
Revision 5:8a0721428fa7, committed 2019-01-10
- Comitter:
- isshikiyuya
- Date:
- Thu Jan 10 03:17:28 2019 +0000
- Parent:
- 4:282471928d78
- Commit message:
- aa
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/main.cpp Thu Dec 20 04:11:51 2018 +0000
+++ b/main.cpp Thu Jan 10 03:17:28 2019 +0000
@@ -35,9 +35,9 @@
flipper.attach(&flip3,0.05);//0.１秒ごとに回転数cを更新
while(1) {
- if( led_count1 + led_count2 > 43*2*12){ //200mm毎にLEDを点滅
+ if( led_count1 + led_count2 > 1000){ //200mm毎にLEDを点滅
LED = 1.0f;
- wait(0.05f);
+ wait(0.01f);
LED = 0;
led_count1 = 0;
led_count2 = 0;
@@ -65,7 +65,8 @@
/////////////////
n = judge1 + judge2*2 + judge3*4;
distance = (distance1 + distance2) / 2;
- if(distance < 43*12*10 ){
+
+ if(distance < 43*12*10 ){//直線
switch(n){
case(2)://白黒白ゆっくり進む
@@ -74,9 +75,9 @@
dif2 = g - c2;
gain1 = 0.0006f;
gain2 = 0.0006f;
- pwm11.write(0.80f + dif1*gain1);
+ pwm11.write(0.70f + dif1*gain1);
pwm12.write(0.30f);
- pwm21.write(0.80f + dif2*gain2);
+ pwm21.write(0.70f + dif2*gain2);
pwm22.write(0.30f);
break;
@@ -153,9 +154,9 @@
gain1 = 0.0002f;
gain2 = 0.0002f;
- pwm11.write(0.80f + dif1*gain1);
+ pwm11.write(0.70f + dif1*gain1);
pwm12.write(0.30f);
- pwm21.write(0.80f + dif2*gain2);
+ pwm21.write(0.70f + dif2*gain2);
pwm22.write(0.30f);
break;
@@ -169,7 +170,7 @@
}
}
- else if(43*12*10< distance && distance< 43*12*13 ){
+ /* else if(43*12*10< distance && distance< 43*12*13 ){
switch(n){
case(2)://白黒白ゆっくり進む
@@ -272,18 +273,121 @@
}
}
-
- else if(43*12*13 < distance && distance < 43*12*18){
+ */
+ else if(43*12*10 < distance && distance < 43*12*18){
switch(n){
case(2)://白黒白ゆっくり進む
g = 500.0f;
dif1 = g - c1;
dif2 = g - c2;
+ gain1 = 0.0013f;
+ gain2 = 0.0013f;
+ pwm11.write(0.45f + dif1*gain1);
+ pwm12.write(0.30f);
+ pwm21.write(0.45f + dif2*gain2);
+ pwm22.write(0.30f);
+ break;
+
+ case(0)://白白白バック
+ g = 500.0f;
+ dif1 = g - c1;
+ dif2 = g - c2;
+ gain1 = 0.002f;
+ gain2 = 0.002f;
+
+ pwm11.write(0.10f);
+ pwm12.write(0.30f +dif1*gain1);
+ pwm21.write(0.10f);
+ pwm22.write(0.30f +dif2*gain2);
+ break;
+
+
+
+ case(1)://黒白白左回転かなり強
+ g = 500.0f;
+ dif1 = g - c1;
+ dif2 = g - c2;
+ gain1 = 0.001f;
+ gain2 = 0.001f;
+
+ pwm11.write(0.20f + dif1*gain1);
+ pwm12.write(0.20f);
+ pwm21.write(0.55f + dif2*gain2);
+ pwm22.write(0.20f);
+ break;
+
+ case(4)://白白黒右回転かなり強
+ g = 500.0f;
+ dif1 = g - c1;
+ dif2 = g - c2;
gain1 = 0.001f;
gain2 = 0.001f;
- pwm11.write(0.40f + dif1*gain1);
+
+ pwm11.write(0.55f + dif1*gain1);
+ pwm12.write(0.20f);
+ pwm21.write(0.20f);
+ pwm22.write(0.20f + dif2*gain2);
+ break;
+
+ case(3)://黒黒白左回転強
+ g = 500.0f;
+ dif1 = g - c1;
+ dif2 = g - c2;
+ gain1 = 0.001f;
+ gain2 = 0.001f;
+
+ pwm11.write(0.20f);
+ pwm12.write(0.20f);
+ pwm21.write(0.55f + dif2*gain2);
+ pwm22.write(0.20f);
+ break;
+
+ case(6)://白黒黒右回転強
+ g = 500.0f;
+ dif1 = g - c1;
+ dif2 = g - c2;
+ gain1 = 0.001f;
+ gain2 = 0.001f;
+
+ pwm11.write(0.55f + dif1*gain1);
+ pwm12.write(0.20f);
+ pwm21.write(0.20f);
+ pwm22.write(0.20f);
+ break;
+
+ case(7)://黒黒黒ゆっくり
+ dif1 = g - c1;
+ dif2 = g - c2;
+ gain1 = 0.0013f;
+ gain2 = 0.0013f;
+
+ pwm11.write(0.45f + dif1*gain1);
pwm12.write(0.30f);
- pwm21.write(0.40f + dif2*gain2);
+ pwm21.write(0.45f + dif2*gain2);
+ pwm22.write(0.30f);
+ break;
+
+ default://それ以外(多分ないけど)
+ pwm11.write(0.10f);
+ pwm12.write(0.50f);
+ pwm21.write(0.10f);
+ pwm22.write(0.50f);
+ break;
+ }
+ }
+
+
+ else if(43*12*18 < distance && distance < 43*12*24){//第二直線
+ switch(n){
+ case(2)://白黒白ゆっくり進む
+ g = 500.0f;
+ dif1 = g - c1;
+ dif2 = g - c2;
+ gain1 = 0.0007f;
+ gain2 = 0.0007f;
+ pwm11.write(0.70f + dif1*gain1);
+ pwm12.write(0.30f);
+ pwm21.write(0.70f + dif2*gain2);
pwm22.write(0.30f);
break;
@@ -360,112 +464,9 @@
gain1 = 0.001f;
gain2 = 0.001f;
- pwm11.write(0.40f + dif1*gain1);
- pwm12.write(0.30f);
- pwm21.write(0.40f + dif2*gain2);
- pwm22.write(0.30f);
- break;
-
- default://それ以外(多分ないけど)
- pwm11.write(0.10f);
- pwm12.write(0.50f);
- pwm21.write(0.10f);
- pwm22.write(0.50f);
- break;
- }
- }
-
-
- else if(43*12*18 < distance && distance < 43*12*24){
- switch(n){
- case(2)://白黒白ゆっくり進む
- g = 500.0f;
- dif1 = g - c1;
- dif2 = g - c2;
- gain1 = 0.0007f;
- gain2 = 0.0007f;
- pwm11.write(0.80f + dif1*gain1);
+ pwm11.write(0.60f + dif1*gain1);
pwm12.write(0.30f);
- pwm21.write(0.80f + dif2*gain2);
- pwm22.write(0.30f);
- break;
-
- case(0)://白白白バック
- g = 500.0f;
- dif1 = g - c1;
- dif2 = g - c2;
- gain1 = 0.0018f;
- gain2 = 0.0018f;
-
- pwm11.write(0.10f);
- pwm12.write(0.30f +dif1*gain1);
- pwm21.write(0.10f);
- pwm22.write(0.30f +dif2*gain2);
- break;
-
-
-
- case(1)://黒白白左回転かなり強
- g = 500.0f;
- dif1 = g - c1;
- dif2 = g - c2;
- gain1 = 0.0007f;
- gain2 = 0.0007f;
-
- pwm11.write(0.20f + dif1*gain1);
- pwm12.write(0.20f);
- pwm21.write(0.50f + dif2*gain2);
- pwm22.write(0.20f);
- break;
-
- case(4)://白白黒右回転かなり強
- g = 500.0f;
- dif1 = g - c1;
- dif2 = g - c2;
- gain1 = 0.0007f;
- gain2 = 0.0007f;
-
- pwm11.write(0.50f + dif1*gain1);
- pwm12.write(0.20f);
- pwm21.write(0.20f);
- pwm22.write(0.20f + dif2*gain2);
- break;
-
- case(3)://黒黒白左回転強
- g = 500.0f;
- dif1 = g - c1;
- dif2 = g - c2;
- gain1 = 0.0007f;
- gain2 = 0.0007f;
-
- pwm11.write(0.20f);
- pwm12.write(0.20f);
- pwm21.write(0.50f + dif2*gain2);
- pwm22.write(0.20f);
- break;
-
- case(6)://白黒黒右回転強
- g = 500.0f;
- dif1 = g - c1;
- dif2 = g - c2;
- gain1 = 0.0007f;
- gain2 = 0.0007f;
-
- pwm11.write(0.50f + dif1*gain1);
- pwm12.write(0.20f);
- pwm21.write(0.20f);
- pwm22.write(0.20f);
- break;
-
- case(7)://黒黒黒ゆっくり
- dif1 = g - c1;
- dif2 = g - c2;
- gain1 = 0.001f;
- gain2 = 0.001f;
-
- pwm11.write(0.80f + dif1*gain1);
- pwm12.write(0.30f);
- pwm21.write(0.80f + dif2*gain2);
+ pwm21.write(0.60f + dif2*gain2);
pwm22.write(0.30f);
break;
@@ -487,11 +488,11 @@
g = 500.0f;
dif1 = g - c1;
dif2 = g - c2;
- gain1 = 0.0006f;
- gain2 = 0.0006f;
- pwm11.write(0.50f + dif1*gain1);
+ gain1 = 0.0013f;
+ gain2 = 0.0013f;
+ pwm11.write(0.45f + dif1*gain1);
pwm12.write(0.30f);
- pwm21.write(0.50f + dif2*gain2);
+ pwm21.write(0.45f + dif2*gain2);
pwm22.write(0.30f);
break;
@@ -499,8 +500,8 @@
g = 500.0f;
dif1 = g - c1;
dif2 = g - c2;
- gain1 = 0.0018f;
- gain2 = 0.0018f;
+ gain1 = 0.002f;
+ gain2 = 0.002f;
pwm11.write(0.10f);
pwm12.write(0.30f +dif1*gain1);
@@ -514,12 +515,12 @@
g = 500.0f;
dif1 = g - c1;
dif2 = g - c2;
- gain1 = 0.0007f;
- gain2 = 0.0007f;
+ gain1 = 0.0011f;
+ gain2 = 0.0011f;
pwm11.write(0.20f + dif1*gain1);
pwm12.write(0.20f);
- pwm21.write(0.70f + dif2*gain2);
+ pwm21.write(0.60f + dif2*gain2);
pwm22.write(0.20f);
break;
@@ -527,10 +528,10 @@
g = 500.0f;
dif1 = g - c1;
dif2 = g - c2;
- gain1 = 0.0007f;
- gain2 = 0.0007f;
+ gain1 = 0.0011f;
+ gain2 = 0.0011f;
- pwm11.write(0.70f + dif1*gain1);
+ pwm11.write(0.60f + dif1*gain1);
pwm12.write(0.20f);
pwm21.write(0.20f);
pwm22.write(0.20f + dif2*gain2);
@@ -540,12 +541,12 @@
g = 500.0f;
dif1 = g - c1;
dif2 = g - c2;
- gain1 = 0.0007f;
- gain2 = 0.0007f;
+ gain1 = 0.0011f;
+ gain2 = 0.0011f;
pwm11.write(0.20f);
pwm12.write(0.20f);
- pwm21.write(0.70f + dif2*gain2);
+ pwm21.write(0.60f + dif2*gain2);
pwm22.write(0.20f);
break;
@@ -553,10 +554,10 @@
g = 500.0f;
dif1 = g - c1;
dif2 = g - c2;
- gain1 = 0.0007f;
- gain2 = 0.0007f;
+ gain1 = 0.0011f;
+ gain2 = 0.0011f;
- pwm11.write(0.70f + dif1*gain1);
+ pwm11.write(0.60f + dif1*gain1);
pwm12.write(0.20f);
pwm21.write(0.20f);
pwm22.write(0.20f);
@@ -565,12 +566,12 @@
case(7)://黒黒黒ゆっくり
dif1 = g - c1;
dif2 = g - c2;
- gain1 = 0.0002f;
- gain2 = 0.0002f;
+ gain1 = 0.0013f;
+ gain2 = 0.0013f;
- pwm11.write(0.50f + dif1*gain1);
+ pwm11.write(0.45f + dif1*gain1);
pwm12.write(0.30f);
- pwm21.write(0.50f + dif2*gain2);
+ pwm21.write(0.45f + dif2*gain2);
pwm22.write(0.30f);
break;
@@ -580,7 +581,6 @@
pwm21.write(0.10f);
pwm22.write(0.50f);
break;
-
}
}