mech
/
line-trace3
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Dependencies: mbed line-trace2
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);