Diff: tracer.cpp

Revision:

0:0f3034bec1f8

Child:

1:faa0499314d3

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/tracer.cpp	Thu Oct 23 06:55:41 2014 +0000
@@ -0,0 +1,82 @@
+#include "mbed.h"
+#include "MotorDriver_SU.h"
+
+DigitalIn sensor1(P0_16);
+DigitalIn sensor2(P0_13);
+DigitalIn sensor3(P0_11);
+
+MotorDriver_SU motor(MOTOR_DOUBLE);
+MotorDriver_SU lift(MOTOR_SINGLE);
+
+int f = 2048;
+int s = 1000;
+int hasegawa = 0;
+
+int main(){
+    while(1){
+        //patern1
+        if(sensor1 == 1 && sensor2 == 1 && sensor3 == 0){
+            motor.Drive(0, CW, 1000); //右タイヤ
+            motor.Drive(1, CW, 2408);//左タイヤ
+            
+            hasegawa = 1;
+            }
+        //patern2
+        else if(sensor1 == 1 && sensor2 == 0 && sensor3 == 1){
+            motor.Drive(0, CW, 2048);
+            motor.Drive(1, CW, 2048);
+            
+            hasegawa = 0;//回転方向判定
+            }
+        //patern3
+        else if(sensor1 == 0 && sensor2 == 1 && sensor3 == 1){
+            motor.Drive(0, CW, 2048);
+            motor.Drive(1, CW, 1000);
+            
+            hasegawa = 0;
+            }
+        //patern4
+        else if(sensor1 == 0 && sensor2 == 0 && sensor3 == 1){
+            motor.Drive(0, CW, 2048);
+            motor.Drive(1, CW, 1000);
+            
+            hasegawa = 0;
+            }
+        //patern5
+        else if(sensor1 == 1 && sensor2 == 0 && sensor3 == 0){
+            motor.Drive(0, CW, 1000);
+            motor.Drive(1, CW, 2048);
+            
+            hasegawa = 1;//回転方向判定
+            }
+        //patern6
+        else if(sensor1 == 0 && sensor2 == 0 && sensor3 == 0){
+            motor.Drive(0, CW, 2048);
+            motor.Drive(1, CW, 2048);
+            }
+        
+        //patern7
+        else if(sensor1 == 0 && sensor2 == 1 && sensor3 == 0){
+            motor.Drive(0, CW, 2048);
+            motor.Drive(1, CW, 2048);
+            }
+        
+        //patern8 探索回転方向
+        //ラインの右側に出た場合 反時計回り
+        else if(sensor1 == 1 && sensor2 == 1 && sensor3 == 1 && hasegawa == 0){
+            motor.Drive(0, CW, 2048);
+            motor.Drive(1, CW, 1000);
+            }
+        //ラインの左側に出た場合 時計回り
+        else if(sensor1 == 1 && sensor2 == 1 && sensor3 == 1 && hasegawa == 1){
+                motor.Drive(0, CW, 1000);
+                motor.Drive(1, CW, 2048);
+            }
+        else{
+            motor.Drive(0, CW, 2048);
+            motor.Drive(1, CW, 2048);
+        }
+        
+    }
+    
+}
\ No newline at end of file