圭祐 杉浦 / Mbed 2 deprecated ライントレーサー　termB

本番用

Dependencies:   MotorDriver_SU USBDevice mbed

main.cpp@1:f5a011cef88b, 2014-11-08 (annotated)

Committer:
12f2027a
Date:
Sat Nov 08 15:31:47 2014 +0000
Revision:
1:f5a011cef88b
Parent:
0:fa4301e041d0
Child:
2:ac16e274c6d5
?????????????????????????gear?

Who changed what in which revision?

UserRevisionLine numberNew contents of line
12f2027a 0:fa4301e041d0 1 #include "mbed.h"
12f2027a 0:fa4301e041d0 2 #include "MotorDriver_SU.h"
12f2027a 0:fa4301e041d0 3
12f2027a 0:fa4301e041d0 4
12f2027a 0:fa4301e041d0 5 DigitalIn sw(P0_1, PullUp);
12f2027a 0:fa4301e041d0 6 DigitalOut led(P1_28);
12f2027a 0:fa4301e041d0 7 AnalogIn sw1(P0_22);
12f2027a 0:fa4301e041d0 8 AnalogIn sw2(P0_12);
12f2027a 0:fa4301e041d0 9 AnalogIn sw3(P0_14);
12f2027a 0:fa4301e041d0 10 AnalogIn sw4(P0_11);
12f2027a 0:fa4301e041d0 11 AnalogIn sw5(P0_13);
12f2027a 0:fa4301e041d0 12
12f2027a 0:fa4301e041d0 13 MotorDriver_SU motor(MOTOR_DOUBLE);
12f2027a 0:fa4301e041d0 14 MotorDriver_SU lift(MOTOR_SINGLE);
12f2027a 0:fa4301e041d0 15
12f2027a 0:fa4301e041d0 16
12f2027a 0:fa4301e041d0 17 int main( ){
12f2027a 0:fa4301e041d0 18 float hoge1;
12f2027a 0:fa4301e041d0 19 float hoge2;
12f2027a 0:fa4301e041d0 20 float hoge3;
12f2027a 0:fa4301e041d0 21 float hoge4;
12f2027a 0:fa4301e041d0 22 float hoge5;
12f2027a 1:f5a011cef88b 23 int AI = 0;
12f2027a 0:fa4301e041d0 24
12f2027a 0:fa4301e041d0 25
12f2027a 0:fa4301e041d0 26 /********************************/
12f2027a 0:fa4301e041d0 27 /********************************/
12f2027a 0:fa4301e041d0 28 /********************************/
12f2027a 0:fa4301e041d0 29 /*荷物を持ち上げる前のプログラム*/
12f2027a 0:fa4301e041d0 30 /********************************/
12f2027a 0:fa4301e041d0 31 /********************************/
12f2027a 0:fa4301e041d0 32 /********************************/
12f2027a 0:fa4301e041d0 33
12f2027a 0:fa4301e041d0 34 while(1){
12f2027a 0:fa4301e041d0 35
12f2027a 0:fa4301e041d0 36 hoge1 = sw1.read();
12f2027a 0:fa4301e041d0 37 hoge2 = sw2.read();
12f2027a 0:fa4301e041d0 38 hoge3 = sw3.read();
12f2027a 0:fa4301e041d0 39 hoge4 = sw4.read();
12f2027a 0:fa4301e041d0 40 hoge5 = sw5.read();
12f2027a 0:fa4301e041d0 41
12f2027a 1:f5a011cef88b 42
12f2027a 0:fa4301e041d0 43 /************************************/
12f2027a 0:fa4301e041d0 44 /*ラインに沿って走るためのプログラム*/
12f2027a 0:fa4301e041d0 45 /************************************/
12f2027a 0:fa4301e041d0 46
12f2027a 1:f5a011cef88b 47 ///////////まっすぐ走るためのプログラム//////////
12f2027a 1:f5a011cef88b 48 /*1.1.1 センサ１が黒*/
12f2027a 1:f5a011cef88b 49 if(sw1 <= 0.3 && sw2 > 0.3 && sw3 > 0.3 && sw4 > 0.3 && sw5 > 0.3){
12f2027a 1:f5a011cef88b 50 motor.Drive(0, CW, 1000);
12f2027a 0:fa4301e041d0 51 motor.Drive(1, CW, 4095);
12f2027a 0:fa4301e041d0 52
12f2027a 0:fa4301e041d0 53 }
12f2027a 0:fa4301e041d0 54
12f2027a 0:fa4301e041d0 55
12f2027a 1:f5a011cef88b 56 /*1.1.2 センサ2が黒*/
12f2027a 1:f5a011cef88b 57 else if(sw1 > 0.3 && sw2 <= 0.3 && sw3 > 0.3 && sw4 > 0.3 && sw5 > 0.3){
12f2027a 1:f5a011cef88b 58 motor.Drive(0, CW, 1250);
12f2027a 0:fa4301e041d0 59 motor.Drive(1, CW, 4095);
12f2027a 0:fa4301e041d0 60
12f2027a 0:fa4301e041d0 61 }
12f2027a 0:fa4301e041d0 62
12f2027a 0:fa4301e041d0 63
12f2027a 1:f5a011cef88b 64 /*1.1.3 センサ3が黒*/
12f2027a 1:f5a011cef88b 65 else if(sw1 > 0.3 && sw2 > 0.3 && sw3 <= 0.3 && sw4 > 0.3 && sw5 > 0.3){
12f2027a 0:fa4301e041d0 66 motor.Drive(0, CW, 4095);
12f2027a 0:fa4301e041d0 67 motor.Drive(1, CW, 4095);
12f2027a 0:fa4301e041d0 68
12f2027a 0:fa4301e041d0 69 }
12f2027a 0:fa4301e041d0 70
12f2027a 0:fa4301e041d0 71
12f2027a 1:f5a011cef88b 72 /*1.1.4 センサ4が黒*/
12f2027a 1:f5a011cef88b 73 else if(sw1 > 0.3 && sw2 > 0.3 && sw3 > 0.3 && sw4 <= 0.3 && sw5 > 0.3){
12f2027a 0:fa4301e041d0 74 motor.Drive(0, CW, 4095);
12f2027a 1:f5a011cef88b 75 motor.Drive(1, CW, 1250);
12f2027a 0:fa4301e041d0 76
12f2027a 0:fa4301e041d0 77 }
12f2027a 0:fa4301e041d0 78
12f2027a 0:fa4301e041d0 79
12f2027a 1:f5a011cef88b 80 /*1.1.5 センサ5が黒*/
12f2027a 1:f5a011cef88b 81 else if(sw1 > 0.3 && sw2 > 0.3 && sw3 > 0.3 && sw4 > 0.3 && sw5 <= 0.3){
12f2027a 0:fa4301e041d0 82 motor.Drive(0, CW, 4095);
12f2027a 1:f5a011cef88b 83 motor.Drive(1, CW, 1000);
12f2027a 0:fa4301e041d0 84
12f2027a 0:fa4301e041d0 85 }
12f2027a 0:fa4301e041d0 86
12f2027a 1:f5a011cef88b 87 /*1.1.6 センサ2-3が黒*/
12f2027a 1:f5a011cef88b 88 else if(sw1 > 0.3 && sw2 <= 0.3 && sw3 <= 0.3 && sw4 > 0.3 && sw5 > 0.3){
12f2027a 1:f5a011cef88b 89 motor.Drive(0, CW, 1500);
12f2027a 0:fa4301e041d0 90 motor.Drive(1, CW, 4095);
12f2027a 0:fa4301e041d0 91
12f2027a 0:fa4301e041d0 92 }
12f2027a 0:fa4301e041d0 93
12f2027a 1:f5a011cef88b 94 /*1.1.7 センサ3-4が黒*/
12f2027a 1:f5a011cef88b 95 else if(sw1 > 0.3 && sw2 > 0.3 && sw3 <= 0.3 && sw4 <= 0.3 && sw5 > 0.3){
12f2027a 0:fa4301e041d0 96 motor.Drive(0, CW, 4095);
12f2027a 1:f5a011cef88b 97 motor.Drive(1, CW, 1500);
12f2027a 0:fa4301e041d0 98
12f2027a 0:fa4301e041d0 99 }
12f2027a 1:f5a011cef88b 100 }
12f2027a 1:f5a011cef88b 101 }