Diff: main.cpp

Revision:

5:237c49800e14

Parent:

4:45b45e8ca173

Child:

6:9bd1da494e0b

--- a/main.cpp	Mon Dec 17 05:55:01 2018 +0000
+++ b/main.cpp	Mon Dec 17 12:02:19 2018 +0000
@@ -16,9 +16,9 @@
 float gain2 = 0.0f;//右ゲイン
 float dif1 = 0.0f;//目標との差左
 float dif2 = 0.0f;//目標との差右
-float thr1 = 0.70f;//フォトリフレクタのしきい値左
-float thr2 = 0.70f;//フォトリフレクタのしきい値真ん中
-float thr3 = 0.70f;//フォトリフレクタのしきい値右
+float thr1 = 0.40f;//フォトリフレクタのしきい値左
+float thr2 = 0.40f;//フォトリフレクタのしきい値真ん中
+float thr3 = 0.40f;//フォトリフレクタのしきい値右
 int judge1 = 0;
 int judge2 = 0;
 int judge3 = 0;
@@ -42,7 +42,7 @@
         distance = (distance1+distance2)/2;
         
         if(distance < 43*2*12*mode1){
-        
+        /*
         if(  led_count1 + led_count2 > 43*2*12){ //200mm毎にLEDを点滅
         LED = 1.0f;
         wait(0.5f);
@@ -50,6 +50,7 @@
         led_count1 = 0;
         led_count2 = 0;
         }
+        */
 //////////////////floatのinをintのjudgeに変換
         if(in1 > thr1){
             judge1 = 1;
@@ -75,60 +76,60 @@
             switch(n){
               case(2)://白黒白進む
               g = 500.0f;
-              gain1 = g - c2;
-              gain2 = g - c1;
+              gain1 = g - c1;
+              gain2 = g - c2;
               
-              pwm11.write(0.50f + gain1*0.00001f);
+              pwm11.write(0.40f);
               pwm12.write(0.30f);
-              pwm21.write(0.50f + gain2*0.00001f);
+              pwm21.write(0.40f);
               pwm22.write(0.30f);
               break;
               
               case(0)://白白白
               g = 600.0f;
-              gain1 = g - c2;
-              gain2 = g - c1;
+              gain1 = g - c1;
+              gain2 = g - c2;
               
-              pwm11.write(0.10f);
-              pwm12.write(0.40f );
-              pwm21.write(0.10f);
-              pwm22.write(0.40f );
+              pwm11.write(0.30f);
+              pwm12.write(0.40f);
+              pwm21.write(0.30f);
+              pwm22.write(0.40f);
               break;
               
               
             
               case(1)://黒白白左回転強
-              pwm11.write(0.45f);
+              pwm11.write(0.30f);
               pwm12.write(0.30f);
-              pwm21.write(0.50f);
-              pwm22.write(0.30f);
+              pwm21.write(0.30f);
+              pwm22.write(0.20f);
               break;
             
               case(4)://白白黒右回転
-              pwm11.write(0.50f);
-              pwm12.write(0.30f);
-              pwm21.write(0.45f);
+              pwm11.write(0.30f);
+              pwm12.write(0.20f);
+              pwm21.write(0.30f);
               pwm22.write(0.30f);
               break;
               
               case(3)://黒黒白左回転弱             
-              pwm11.write(0.45f);
+              pwm11.write(0.30f);
               pwm12.write(0.30f);
-              pwm21.write(0.46f);
-              pwm22.write(0.30f);
+              pwm21.write(0.30f);
+              pwm22.write(0.20f);
               break;
               
               case(6)://白黒黒右回転弱
-              pwm11.write(0.46f);
-              pwm12.write(0.30f);
-              pwm21.write(0.45f);
+              pwm11.write(0.30f);
+              pwm12.write(0.20f);
+              pwm21.write(0.30f);
               pwm22.write(0.30f);
               break;
               
               case(7)://黒黒黒爆走
-              pwm11.write(0.60f);
+              pwm11.write(0.40f);
               pwm12.write(0.30f);
-              pwm21.write(0.60f);
+              pwm21.write(0.40f);
               pwm22.write(0.30f);
               break;