Naoki Hasegawa / Mbed 2 deprecated finalcenter1124

six sensors

Dependencies:   MotorDriver_SU mbed

Fork of finalcenter by masayushi nisino

Files at this revision

API Documentation at this revision

Revision 2:744aaae91c45, committed 2014-11-24

Comitter:
12F2041G
Date:
Mon Nov 24 06:48:35 2014 +0000
Parent:
1:0cd50a576350
Commit message:
1124

Changed in this revision

center.cpp Show annotated file Show diff for this revision Revisions of this file 
diff -r 0cd50a576350 -r 744aaae91c45 center.cpp
--- a/center.cpp	Sun Nov 23 09:08:39 2014 +0000
+++ b/center.cpp	Mon Nov 24 06:48:35 2014 +0000
@@ -8,7 +8,9 @@
 DigitalIn sensor3(P0_11);
 // lift L to R
 DigitalIn sensor4(P0_21);
+DigitalIn sensor6(Px_xx);
 DigitalIn sensor5(P0_22);
+DigitalIn sensor7(Px_xx);
 
 DigitalOut led(P1_28);
  
@@ -40,7 +42,7 @@
                 motor.Drive(1, CW, 1700);
                 lift.Drive(0, STOP, 0);
                 }
-            else if(sensor1 == 1 && sensor2 == 0 && sensor3 == 1 && sensor4 == 0 && sensor5 == 0){
+            else if((sensor1 == 1 && sensor2 == 0 && sensor3 == 1 && sensor4 == 0 && sensor5 == 0)||(sensor1 == 1 && sensor2 == 0 && sensor3 == 1 && sensor4 == 0 && sensor7 == 0)||(sensor1 == 1 && sensor2 == 0 && sensor3 == 1 && sensor6 == 0 && sensor5 == 0)||(sensor1 == 1 && sensor2 == 0 && sensor3 == 1 && sensor5 == 0 && sensor7 == 0)){
                 led = 1;//count kakuninn
                 if( count == 0){
                     lift.Drive(0, CW, 4095); //lift up
@@ -108,7 +110,7 @@
                     lift.Drive(0, STOP, 0);
                     }
         //select course condition
-            else if(sensor2 == 0 && sensor4 == 1 && sensor5 == 0){
+            else if((sensor2 == 0 && sensor4 == 1 && sensor5 == 0)||(sensor2 == 0 && sensor4 == 1 && sensor7 == 0 )||(sensor2 == 0 && sensor6 == 1 && sensor5 == 0)||(sensor2 == 0 && sensor6 == 1 && sensor7 == 0)){
                         if(check1 == 0){
                             check1 = 1;
                             motor.Drive(0, CW, 1000);//adjust
@@ -123,7 +125,7 @@
                                 ;//response only once
                             }
                     }
-            else if(sensor2 == 0 && sensor4 == 0 && sensor5 == 1){
+            else if((sensor2 == 0 && sensor4 == 0 && sensor5 == 1)||(sensor2 == 0 && sensor4 == 0 && sensor7 == 1)||(sensor2 == 0 && sensor6 == 0 && sensor5 == 1)||(sensor2 == 0 && sensor6 == 0 && sensor7 == 1)){
                         if(check2 == 0){
                             check2 = 1;
                     //enter the center course