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Dependencies:   mbed line-trace2

main.cpp@4:a5dfe20835c0, 2018-12-10 (annotated)

Committer:
isshikiyuya
Date:
Mon Dec 10 18:55:45 2018 +0000
Revision:
4:a5dfe20835c0
Parent:
3:9c86f47e8947 
a

Who changed what in which revision?

UserRevisionLine numberNew contents of line
isshikiyuya 1:a8fad3c66162 1 #include "function.h"
isshikiyuya 0:764148148257 2
isshikiyuya 0:764148148257 3 PwmOut pwm11(D5); //左正転
isshikiyuya 0:764148148257 4 PwmOut pwm12(D1); //左逆転
isshikiyuya 0:764148148257 5 PwmOut pwm21(D6); //右正転
isshikiyuya 0:764148148257 6 PwmOut pwm22(D9); //右逆転
isshikiyuya 0:764148148257 7 DigitalOut LED(D2);
isshikiyuya 0:764148148257 8 InterruptIn button1(A1); //フォトインタラプタ
isshikiyuya 0:764148148257 9 InterruptIn button2(A2); //フォトインタラプタ
isshikiyuya 2:deefc81cf5a5 10 AnalogIn in1(A6); //フォトリフレクタ左
isshikiyuya 0:764148148257 11 AnalogIn in2(A4); //フォトリフレクタ真ん中
isshikiyuya 2:deefc81cf5a5 12 AnalogIn in3(A3); //フォトリフレクタ右
isshikiyuya 0:764148148257 13
isshikiyuya 2:deefc81cf5a5 14 float thr1 = 0.40f;
isshikiyuya 2:deefc81cf5a5 15 float thr2 = 0.60f;
isshikiyuya 2:deefc81cf5a5 16 float thr3 = 0.40f;
isshikiyuya 0:764148148257 17 int judge1 = 0;
isshikiyuya 0:764148148257 18 int judge2 = 0;
isshikiyuya 0:764148148257 19 int judge3 = 0;
isshikiyuya 0:764148148257 20
isshikiyuya 0:764148148257 21 int main() {
isshikiyuya 0:764148148257 22 pwm11.period(0.01f); //100Hz
isshikiyuya 0:764148148257 23 pwm12.period(0.01f); //100Hz
isshikiyuya 0:764148148257 24 pwm21.period(0.01f); //100Hz
isshikiyuya 0:764148148257 25 pwm22.period(0.01f); //100Hz
isshikiyuya 0:764148148257 26 button1.rise(&flip1);
isshikiyuya 0:764148148257 27 button2.rise(&flip2);
isshikiyuya 0:764148148257 28 int n;//3biteで状態を表現
isshikiyuya 0:764148148257 29
isshikiyuya 0:764148148257 30 while(1) {
isshikiyuya 0:764148148257 31
isshikiyuya 1:a8fad3c66162 32 if( count1 + count2 > 43*2*12){ //200mm毎にLEDを点滅
isshikiyuya 0:764148148257 33 LED = 1.0f;
isshikiyuya 0:764148148257 34 wait(0.5f);
isshikiyuya 0:764148148257 35 LED = 0;
isshikiyuya 0:764148148257 36 count1 = 0;
isshikiyuya 0:764148148257 37 count2 = 0;
isshikiyuya 0:764148148257 38 }
isshikiyuya 1:a8fad3c66162 39 //////////////////floatのinをintのjudgeに変換
isshikiyuya 0:764148148257 40 if(in1 > thr1){
isshikiyuya 0:764148148257 41 judge1 = 1;
isshikiyuya 0:764148148257 42 }
isshikiyuya 0:764148148257 43 else{
isshikiyuya 0:764148148257 44 judge1 = 0;
isshikiyuya 0:764148148257 45 }
isshikiyuya 0:764148148257 46 if(in2 > thr2){
isshikiyuya 0:764148148257 47 judge2 = 1;
isshikiyuya 0:764148148257 48 }
isshikiyuya 0:764148148257 49 else{
isshikiyuya 0:764148148257 50 judge2 = 0;
isshikiyuya 0:764148148257 51 }
isshikiyuya 0:764148148257 52 if(in3 > thr3){
isshikiyuya 0:764148148257 53 judge3 = 1;
isshikiyuya 0:764148148257 54 }
isshikiyuya 0:764148148257 55 else{
isshikiyuya 0:764148148257 56 judge3 = 0;
isshikiyuya 0:764148148257 57 }
isshikiyuya 0:764148148257 58 /////////////////
isshikiyuya 0:764148148257 59 n = judge1 + judge2*2 + judge3*4;
isshikiyuya 1:a8fad3c66162 60 /* distance = (distance1 + distance2) / 2;
isshikiyuya 1:a8fad3c66162 61 if(ditance < 43*12*){
isshikiyuya 1:a8fad3c66162 62 */
isshikiyuya 1:a8fad3c66162 63 switch(n){
isshikiyuya 1:a8fad3c66162 64 case(2)://白黒白進む
isshikiyuya 2:deefc81cf5a5 65 pwm11.write(0.60f);
isshikiyuya 2:deefc81cf5a5 66 pwm12.write(0.30f);
isshikiyuya 2:deefc81cf5a5 67 pwm21.write(0.60f);
isshikiyuya 2:deefc81cf5a5 68 pwm22.write(0.30f);
isshikiyuya 0:764148148257 69 break;
isshikiyuya 1:a8fad3c66162 70
isshikiyuya 1:a8fad3c66162 71 case(0)://白白白
isshikiyuya 0:764148148257 72 pwm11.write(0.10f);
isshikiyuya 0:764148148257 73 pwm12.write(0.10f);
isshikiyuya 0:764148148257 74 pwm21.write(0.10f);
isshikiyuya 0:764148148257 75 pwm22.write(0.10f);
isshikiyuya 0:764148148257 76 break;
isshikiyuya 2:deefc81cf5a5 77
isshikiyuya 2:deefc81cf5a5 78
isshikiyuya 0:764148148257 79
isshikiyuya 1:a8fad3c66162 80 case(1)://黒白白左回転
isshikiyuya 4:a5dfe20835c0 81 pwm11.write(0.30f);
isshikiyuya 2:deefc81cf5a5 82 pwm12.write(0.30f);
isshikiyuya 4:a5dfe20835c0 83 pwm21.write(0.60f);
isshikiyuya 2:deefc81cf5a5 84 pwm22.write(0.30f);
isshikiyuya 0:764148148257 85 break;
isshikiyuya 0:764148148257 86
isshikiyuya 1:a8fad3c66162 87 case(4)://白白黒右回転
isshikiyuya 4:a5dfe20835c0 88 pwm11.write(0.60f);
isshikiyuya 4:a5dfe20835c0 89 pwm12.write(0.30f);
isshikiyuya 4:a5dfe20835c0 90 pwm21.write(0.30f);
isshikiyuya 4:a5dfe20835c0 91 pwm22.write(0.30f);
isshikiyuya 4:a5dfe20835c0 92 break;
isshikiyuya 4:a5dfe20835c0 93
isshikiyuya 4:a5dfe20835c0 94 case(3)://黒黒白左回転
isshikiyuya 4:a5dfe20835c0 95 pwm11.write(0.30f);
isshikiyuya 2:deefc81cf5a5 96 pwm12.write(0.30f);
isshikiyuya 2:deefc81cf5a5 97 pwm21.write(0.60f);
isshikiyuya 2:deefc81cf5a5 98 pwm22.write(0.30f);
isshikiyuya 0:764148148257 99 break;
isshikiyuya 2:deefc81cf5a5 100
isshikiyuya 4:a5dfe20835c0 101 case(6)://白黒黒右回転
isshikiyuya 2:deefc81cf5a5 102 pwm11.write(0.60f);
isshikiyuya 2:deefc81cf5a5 103 pwm12.write(0.30f);
isshikiyuya 4:a5dfe20835c0 104 pwm21.write(0.30f);
isshikiyuya 2:deefc81cf5a5 105 pwm22.write(0.30f);
isshikiyuya 3:9c86f47e8947 106 break;
isshikiyuya 2:deefc81cf5a5 107
isshikiyuya 4:a5dfe20835c0 108 case(7)://黒黒黒走る
isshikiyuya 4:a5dfe20835c0 109 pwm11.write(0.60f);
isshikiyuya 2:deefc81cf5a5 110 pwm12.write(0.30f);
isshikiyuya 2:deefc81cf5a5 111 pwm21.write(0.60f);
isshikiyuya 2:deefc81cf5a5 112 pwm22.write(0.30f);
isshikiyuya 3:9c86f47e8947 113 break;
isshikiyuya 0:764148148257 114
isshikiyuya 3:9c86f47e8947 115 default://それ以外(ないけど)
isshikiyuya 0:764148148257 116 pwm11.write(0.00f);
isshikiyuya 0:764148148257 117 pwm12.write(0.00f);
isshikiyuya 0:764148148257 118 pwm21.write(0.00f);
isshikiyuya 0:764148148257 119 pwm22.write(0.00f);
isshikiyuya 0:764148148257 120 break;
isshikiyuya 0:764148148257 121
isshikiyuya 0:764148148257 122 }
isshikiyuya 0:764148148257 123 }
isshikiyuya 0:764148148257 124 }