Diff: main.cpp

Revision:

2:deefc81cf5a5

Parent:

1:a8fad3c66162

Child:

3:9c86f47e8947

diff -r a8fad3c66162 -r deefc81cf5a5 main.cpp
--- a/main.cpp	Fri Dec 07 09:34:18 2018 +0000
+++ b/main.cpp	Mon Dec 10 11:07:44 2018 +0000
@@ -7,13 +7,13 @@
 DigitalOut LED(D2);
 InterruptIn button1(A1);    //フォトインタラプタ
 InterruptIn button2(A2);    //フォトインタラプタ
-AnalogIn   in1(A3);         //フォトリフレクタ左
+AnalogIn   in1(A6);         //フォトリフレクタ左
 AnalogIn   in2(A4);         //フォトリフレクタ真ん中
-AnalogIn   in3(A6);         //フォトリフレクタ右
+AnalogIn   in3(A3);         //フォトリフレクタ右
 
-float thr1 = 0.70f;
-float thr2 = 0.70f;
-float thr3 = 0.70f;
+float thr1 = 0.40f;
+float thr2 = 0.60f;
+float thr3 = 0.40f;
 int judge1 = 0;
 int judge2 = 0;
 int judge3 = 0;
@@ -62,10 +62,10 @@
             */
             switch(n){
               case(2)://白黒白進む
-              pwm11.write(0.30f);
-              pwm12.write(0.00f);
-              pwm21.write(0.30f);
-              pwm22.write(0.00f);
+              pwm11.write(0.60f);
+              pwm12.write(0.30f);
+              pwm21.write(0.60f);
+              pwm22.write(0.30f);
               break;
               
               case(0)://白白白
@@ -74,20 +74,35 @@
               pwm21.write(0.10f);
               pwm22.write(0.10f);
               break;
+              
+              
             
               case(1)://黒白白左回転
-              pwm11.write(0.20f);
-              pwm12.write(0.00f);
-              pwm21.write(0.05f);
-              pwm22.write(0.00f);
+              pwm11.write(0.60f);
+              pwm12.write(0.30f);
+              pwm21.write(0.66f);
+              pwm22.write(0.30f);
               break;
             
               case(4)://白白黒右回転
-              pwm11.write(0.05f);
-              pwm12.write(0.00f);
-              pwm21.write(0.20f);
-              pwm22.write(0.00f);
+              pwm11.write(0.59f);
+              pwm12.write(0.30f);
+              pwm21.write(0.60f);
+              pwm22.write(0.30f);
               break;
+              
+              case(3)://黒黒白左回転             
+              pwm11.write(0.60f);
+              pwm12.write(0.30f);
+              pwm21.write(0.66f);
+              pwm22.write(0.30f);
+              
+              case(6)://白黒黒右回転
+              pwm11.write(0.59f);
+              pwm12.write(0.30f);
+              pwm21.write(0.60f);
+              pwm22.write(0.30f);
+              
                
               default://それ以外
               pwm11.write(0.00f);