圭祐 杉浦
termB 2回目 本番用
Dependencies: MotorDriver_SU USBDevice mbed
Revision 1:1efcac695408, committed 2014-11-17
- Comitter:
- 12f2027a
- Date:
- Mon Nov 17 06:22:34 2014 +0000
- Parent:
- 0:a66927a110ab
- Commit message:
- termB 2??(11/17)??????
Changed in this revision
| termB-2.cpp | Show annotated file Show diff for this revision Revisions of this file |
diff -r a66927a110ab -r 1efcac695408 termB-2.cpp
--- a/termB-2.cpp Sun Nov 16 17:45:56 2014 +0000
+++ b/termB-2.cpp Mon Nov 17 06:22:34 2014 +0000
@@ -1,7 +1,7 @@
#include "mbed.h"
#include "MotorDriver_SU.h"
-
-
+
+
DigitalIn sw(P0_1, PullUp);
DigitalOut led(P1_28);
AnalogIn sw1(P0_22);
@@ -9,11 +9,11 @@
AnalogIn sw3(P0_14);
AnalogIn sw4(P0_11);
AnalogIn sw5(P0_13);
-
+
MotorDriver_SU motor(MOTOR_DOUBLE);
MotorDriver_SU lift(MOTOR_SINGLE);
-
-
+
+
int main( ){
float hoge1;
float hoge2;
@@ -31,6 +31,10 @@
hoge4 = sw4.read();
hoge5 = sw5.read();
+ while(sw == 0){
+ motor.Drive(0, STOP, 0);
+ motor.Drive(1, STOP, 0);
+ }
/************************************/
/*ラインに沿って走るためのプログラム*/
@@ -39,7 +43,7 @@
/*黒＿白＿白＿白＿白*/
if(sw1 <= 0.3 && sw2 > 0.5 && sw3 > 0.5 && sw4 > 0.5 && sw5 > 0.5){
motor.Drive(0, CW, 500);
- motor.Drive(1, CW, 2000);
+ motor.Drive(1, CW, 1500);
}
@@ -47,26 +51,26 @@
/*白＿黒＿白＿白＿白*/
else if(sw1 > 0.5 && sw2 <= 0.3 && sw3 > 0.5 && sw4 > 0.5 && sw5 > 0.5){
motor.Drive(0, CW, 800);
- motor.Drive(1, CW, 2000);
+ motor.Drive(1, CW, 1500);
}
/*白＿黒＿黒＿白＿白*/
else if(sw1 > 0.5 && sw2 <= 0.5 && sw3 <= 0.5 && sw4 > 0.5 && sw5 > 0.5){
motor.Drive(0, CW, 1000);
- motor.Drive(1, CW, 2000);
+ motor.Drive(1, CW, 1500);
}
/*白＿白＿黒＿白＿白*/
else if(sw1 > 0.5 && sw2 > 0.5 && sw3 <= 0.3 && sw4 > 0.5 && sw5 > 0.5){
- motor.Drive(0, CW, 1600);
- motor.Drive(1, CW, 1600);
+ motor.Drive(0, CW, 1500);
+ motor.Drive(1, CW, 1500);
}
/*白＿白＿黒＿黒＿白*/
else if(sw1 > 0.5 && sw2 > 0.5 && sw3 <= 0.5 && sw4 <= 0.5 && sw5 > 0.5){
- motor.Drive(0, CW, 2000);
+ motor.Drive(0, CW, 1500);
motor.Drive(1, CW, 1000);
}
@@ -74,8 +78,8 @@
/*白＿白＿白＿黒＿白*/
- else if(sw1 > 0.5 && sw2 > 0.5 && sw3 > 0.5 && sw4 <= 0.5 && sw5 > 0.5){
- motor.Drive(0, CW, 2000);
+ else if(sw1 > 0.5 && sw2 > 0.5 && sw3 > 0.5 && sw4 <= 0.3 && sw5 > 0.5){
+ motor.Drive(0, CW, 1500);
motor.Drive(1, CW, 800);
}
@@ -83,7 +87,7 @@
/*白＿白＿白＿白＿黒*/
else if(sw1 > 0.5 && sw2 > 0.5 && sw3 > 0.5 && sw4 > 0.5 && sw5 <= 0.3){
- motor.Drive(0, CW, 2000);
+ motor.Drive(0, CW, 1500);
motor.Drive(1, CW, 500);
}
@@ -161,24 +165,26 @@
/**********************************/
/*1.4.1 センサ1-5が黒*/
- else if(sw1 <= 0.5 && sw5 <= 0.5){
- motor.Drive(0, STOP, 0);
- motor.Drive(1, STOP, 0);
+ else if(sw1 <= 0.5 && sw5 <= 0.5){
+
+
+
if( updown == 0 ){
///////////停止//////////
motor.Drive(0, STOP, 0);
motor.Drive(1, STOP, 0);
wait(0.1);
///////////リフト上げる//////////
- lift.Drive(0, CCW, 4095);
+ lift.Drive(0, CCW, 2000);
wait(1.0);
///////////リフト停止//////////
lift.Drive(0, STOP, 0);
wait(0.1);
///////////停止位置を超えるために少し前進//////////
+
motor.Drive(0, CW, 1500);
motor.Drive(1, CW, 1500);
- wait(1.0);
+ wait(0.1);
updown = 1;
}
@@ -196,7 +202,7 @@
///////////バック//////////
motor.Drive(0, CCW, 4095);
motor.Drive(1, CCW, 4095);
- wait(3.0);
+ wait(1.2);
///////////モータ停止//////////
motor.Drive(0, STOP, 0);
motor.Drive(1, STOP, 0);