Diff: main.cpp

Revision:

0:e0e5aa0ad906

diff -r 000000000000 -r e0e5aa0ad906 main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon Dec 10 19:00:48 2018 +0000
@@ -0,0 +1,124 @@
+#include "function.h"
+
+PwmOut pwm11(D5);           //左正転
+PwmOut pwm12(D1);           //左逆転
+PwmOut pwm21(D6);           //右正転
+PwmOut pwm22(D9);           //右逆転
+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(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(A3);         //フォトリフレクタ右
+
+float thr1 = 0.40f;
+float thr2 = 0.60f;
+float thr3 = 0.40f;
+int judge1 = 0;
+int judge2 = 0;
+int judge3 = 0;
+
+int main() {
+    pwm11.period(0.01f);  //100Hz
+    pwm12.period(0.01f);  //100Hz
+    pwm21.period(0.01f);  //100Hz
+    pwm22.period(0.01f);  //100Hz
+    button1.rise(&flip1);
+    button2.rise(&flip2);
+    int n;//3biteで状態を表現
+    
+    while(1) {
+        
+        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のinをintのjudgeに変換
+        if(in1 > thr1){
+            judge1 = 1;
+            }
+         else{
+            judge1 = 0;
+            }
+            if(in2 > thr2){
+            judge2 = 1;
+            }
+         else{
+            judge2 = 0;
+            }
+            if(in3 > thr3){
+            judge3 = 1;
+            }
+         else{
+            judge3 = 0;
+            }
+/////////////////
+        n = judge1 + judge2*2 + judge3*4;
+   /*     distance = (distance1 + distance2) / 2;
+        if(ditance < 43*12*){
+            */
+            switch(n){
+              case(2)://白黒白進む
+              pwm11.write(0.60f);
+              pwm12.write(0.30f);
+              pwm21.write(0.60f);
+              pwm22.write(0.30f);
+              break;
+              
+              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
+              pwm11.write(0.30f);
+              pwm12.write(0.30f);
+              pwm21.write(0.60f);
+              pwm22.write(0.30f);
+              break;
+            
+              case(4)://白白黒右回転
+              pwm11.write(0.60f);
+              pwm12.write(0.30f);
+              pwm21.write(0.30f);
+              pwm22.write(0.30f);
+              break;
+              
+              case(3)://黒黒白左回転             
+              pwm11.write(0.30f);
+              pwm12.write(0.30f);
+              pwm21.write(0.60f);
+              pwm22.write(0.30f);
+              break;
+              
+              case(6)://白黒黒右回転
+              pwm11.write(0.60f);
+              pwm12.write(0.30f);
+              pwm21.write(0.30f);
+              pwm22.write(0.30f);
+              break;
+              
+              case(7)://黒黒黒走る
+              pwm11.write(0.60f);
+              pwm12.write(0.30f);
+              pwm21.write(0.60f);
+              pwm22.write(0.30f);
+              break;
+               
+              default://それ以外(ないけど)
+              pwm11.write(0.00f);
+              pwm12.write(0.00f);
+              pwm21.write(0.00f);
+              pwm22.write(0.00f);
+              break;
+              
+        }
+    }
+}
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