mech
/
line_trace3
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Dependencies: mbed
Revision 0:e0e5aa0ad906, committed 2018-12-10
- Comitter:
- isshikiyuya
- Date:
- Mon Dec 10 19:00:48 2018 +0000
- Commit message:
- a
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/function.h Mon Dec 10 19:00:48 2018 +0000
@@ -0,0 +1,47 @@
+#include "mbed.h"
+
+///////////////////////////////////////
+int count1 = 0;
+int count2 = 0;
+int distance1 = 0;
+int distance2 = 0;
+int distance = 0;
+
+void flip1() {
+ count1++;
+ distance1++;
+}
+
+void flip2() {
+ count2++;
+ distance2++;
+}
+
+
+
+/*
+class Sample{
+ private:
+ count;
+ public:
+ Sample();
+ void counter();
+ void counter2(int &num);
+};
+
+Sample::Sample()
+{
+ count=0;
+}
+
+void Sample::counter()
+{
+ count++;
+}
+
+void Sample::counter2(int& num)
+{
+ num+=1;
+}
+
+*/
\ No newline at end of file
--- /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;
+
+ }
+ }
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Mon Dec 10 19:00:48 2018 +0000 @@ -0,0 +1,1 @@ +https://mbed.org/users/mbed_official/code/mbed/builds/a330f0fddbec \ No newline at end of file