mech
/
Shiken_3
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Revision 7:de699a50fc63, committed 2018-12-19
- Comitter:
- NSugiura
- Date:
- Wed Dec 19 21:27:56 2018 +0000
- Parent:
- 6:9bd1da494e0b
- Commit message:
- a
Changed in this revision
--- a/function.h Tue Dec 18 19:04:49 2018 +0000
+++ b/function.h Wed Dec 19 21:27:56 2018 +0000
@@ -27,7 +27,7 @@
distance2++;
}
-void flip3(){
+/*void flip3(){
c = 20*( count1 + count2 ) / 2;//cは1秒ごとのパルス数
c1 = 20*count1;
c2 = 20*count2;
@@ -35,7 +35,7 @@
count1 = 0;
count2 = 0;
}
-
+*/
/*
class Sample{
--- a/main.cpp Tue Dec 18 19:04:49 2018 +0000
+++ b/main.cpp Wed Dec 19 21:27:56 2018 +0000
@@ -17,9 +17,9 @@
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 = 0.40f;//フォトリフレクタのしきい値左
+float thr1 = 0.10f;//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
+float thr3 = 0.10f;//フォトリフレクタのしきい値右
int judge1 = 0;
int judge2 = 0;
int judge3 = 0;
@@ -37,11 +37,11 @@
button2.rise(&flip2);
int n;//3biteで状態を表現
- flipper.attach(&flip3,0.05f);//0.05秒ごとに回転数cを更新
+ // flipper.attach(&flip3,0.05f);//0.05秒ごとに回転数cを更新
while(1) {
- distance = (distance1+distance2)/2;
+ // distance = (distance1+distance2)/2;
// if(distance < 43*2*12*mode1){
/*
@@ -82,31 +82,31 @@
dif1 = g1 - c1;
dif2 = g2 - c2;
- pwm11.write(0.35f);
+ pwm11.write(0.31f);
pwm12.write(0.10f);
- pwm21.write(0.35f);
+ pwm21.write(0.31f);
pwm22.write(0.10f);
break;
case(1)://黒白白左回転強
-
+
pwm11.write(0.30f);
pwm12.write(0.20f);
- pwm21.write(0.38f);
+ pwm21.write(0.40f);
pwm22.write(0.20f);
break;
case(3)://黒黒白左回転弱
- pwm11.write(0.27f);
- pwm12.write(0.10f);
- pwm21.write(0.33f);
- pwm22.write(0.10f);
+ pwm11.write(0.47f);
+ pwm12.write(0.30f);
+ pwm21.write(0.41f);
+ pwm22.write(0.30f);
break;
case(4)://白白黒右回転強
- pwm11.write(0.40f);
+ pwm11.write(0.41f);
pwm12.write(0.20f);
pwm21.write(0.30f);
pwm22.write(0.20f);
@@ -114,17 +114,17 @@
case(6)://白黒黒右回転弱
- pwm11.write(0.33f);
- pwm12.write(0.10f);
- pwm21.write(0.27f);
- pwm22.write(0.10f);
+ pwm11.write(0.47f);
+ pwm12.write(0.30f);
+ pwm21.write(0.41f);
+ pwm22.write(0.30f);
break;
case(7)://黒黒黒爆走
pwm11.write(0.45f);
- pwm12.write(0.30f);
+ pwm12.write(0.10f);
pwm21.write(0.45f);
- pwm22.write(0.30f);
+ pwm22.write(0.10f);
break;
case(0)://白白白
@@ -177,36 +177,49 @@
break;
case(3):
- while(in2 < thr2){
- pwm11.write(0.45f);
+ while(in1 < thr1){
+ pwm11.write(0.30f);
pwm12.write(0.10f);
pwm21.write(0.20f);
pwm22.write(0.20f);
}
curve_num++;
- while(in2 > thr2){
- pwm11.write(0.90f);
+ while(in1 > thr1){
+ pwm11.write(0.47f);
pwm12.write(0.20f);
- pwm21.write(0.20f);
- pwm22.write(0.10f);
+ pwm21.write(0.40f);
+ pwm22.write(0.20f);
}
break;
case(4):
- while(in1 < thr1){
- pwm11.write(0.35f);
+ while(in3 < thr3){
+ pwm11.write(0.30f);
pwm12.write(0.10f);
- pwm21.write(0.48f);
+ pwm21.write(0.20f);
pwm22.write(0.20f);
}
+ pwm11.write(0.10f);
+ pwm12.write(0.20f);
+ pwm21.write(0.80f);
+ pwm22.write(0.20f);
curve_num++;
- pwm11.write(0.20f);
- pwm12.write(0.20f);
- pwm21.write(0.40f);
- pwm22.write(0.10f);
+
+ break;
+
+ case(5):
+ while(in2 < thr2){
+ pwm11.write(0.38f);
+ pwm12.write(0.10f);
+ pwm21.write(0.20f);
+ pwm22.write(0.20f);
+ }
+
+ curve_num++;
break;
+
default:
pwm11.write(0.30f);
--- a/mbed-os.lib Tue Dec 18 19:04:49 2018 +0000 +++ b/mbed-os.lib Wed Dec 19 21:27:56 2018 +0000 @@ -1,1 +1,1 @@ -https://github.com/ARMmbed/mbed-os/#c9e63f14085f5751ff5ead79a7c0382d50a813a2 +https://github.com/ARMmbed/mbed-os/#2fd0c5cfbd83fce62da6308f9d64c0ab64e1f0d6