Diff: main.cpp

Revision:

1:a8fad3c66162

Parent:

0:764148148257

Child:

2:deefc81cf5a5

--- a/main.cpp	Sat Dec 01 16:10:49 2018 +0000
+++ b/main.cpp	Fri Dec 07 09:34:18 2018 +0000
@@ -1,4 +1,4 @@
-#include "count.h"
+#include "function.h"
 
 PwmOut pwm11(D5);           //左正転
 PwmOut pwm12(D1);           //左逆転
@@ -29,14 +29,14 @@
     
     while(1) {
         
-        if(  count1 + count2 > 43*2*12){ //LEDを点滅
+        if(  count1 + count2 > 43*2*12){ //200mm毎にLEDを点滅
         LED = 1.0f;
         wait(0.5f);
         LED = 0;
         count1 = 0;
         count2 = 0;
         }
-//////////////////float inをint judgeに変換
+//////////////////floatのinをintのjudgeに変換
         if(in1 > thr1){
             judge1 = 1;
             }
@@ -57,38 +57,39 @@
             }
 /////////////////
         n = judge1 + judge2*2 + judge3*4;
-        
-        switch(n){
-            
-            case(2)://白黒白進む
-              pwm11.write(0.60f);
+   /*     distance = (distance1 + distance2) / 2;
+        if(ditance < 43*12*){
+            */
+            switch(n){
+              case(2)://白黒白進む
+              pwm11.write(0.30f);
               pwm12.write(0.00f);
-              pwm21.write(0.60f);
+              pwm21.write(0.30f);
               pwm22.write(0.00f);
               break;
-            
-            case(0)://白白白
+              
+              case(0)://白白白
               pwm11.write(0.10f);
               pwm12.write(0.10f);
               pwm21.write(0.10f);
               pwm22.write(0.10f);
               break;
             
-            case(1)://黒白白左回転
+              case(1)://黒白白左回転
               pwm11.write(0.20f);
               pwm12.write(0.00f);
-              pwm21.write(0.00f);
+              pwm21.write(0.05f);
               pwm22.write(0.00f);
               break;
             
-            case(4)://白白黒右回転
-              pwm11.write(0.00f);
+              case(4)://白白黒右回転
+              pwm11.write(0.05f);
               pwm12.write(0.00f);
               pwm21.write(0.20f);
               pwm22.write(0.00f);
               break;
                
-            default://それ以外
+              default://それ以外
               pwm11.write(0.00f);
               pwm12.write(0.00f);
               pwm21.write(0.00f);