本番用
Dependencies: MotorDriver_SU USBDevice mbed
main.cpp@0:fa4301e041d0, 2014-11-08 (annotated)
- Committer:
- 12f2027a
- Date:
- Sat Nov 08 10:57:34 2014 +0000
- Revision:
- 0:fa4301e041d0
- Child:
- 1:f5a011cef88b
?????????termB
Who changed what in which revision?
User | Revision | Line number | New 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 | 0:fa4301e041d0 | 23 | |
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 | 0:fa4301e041d0 | 42 | while( sw == 0 ){ |
12f2027a | 0:fa4301e041d0 | 43 | motor.Drive(0, STOP, 0); |
12f2027a | 0:fa4301e041d0 | 44 | motor.Drive(1, STOP, 0); |
12f2027a | 0:fa4301e041d0 | 45 | } |
12f2027a | 0:fa4301e041d0 | 46 | /************************************/ |
12f2027a | 0:fa4301e041d0 | 47 | /*ラインに沿って走るためのプログラム*/ |
12f2027a | 0:fa4301e041d0 | 48 | /************************************/ |
12f2027a | 0:fa4301e041d0 | 49 | |
12f2027a | 0:fa4301e041d0 | 50 | |
12f2027a | 0:fa4301e041d0 | 51 | /*1 センサ1が黒*/ |
12f2027a | 0:fa4301e041d0 | 52 | if(sw1 <= 0.3 && sw2 > 0.5 && sw3 > 0.5 && sw4 > 0.5 && sw5 > 0.5){ |
12f2027a | 0:fa4301e041d0 | 53 | motor.Drive(0, CW, 1500); |
12f2027a | 0:fa4301e041d0 | 54 | motor.Drive(1, CW, 4095); |
12f2027a | 0:fa4301e041d0 | 55 | |
12f2027a | 0:fa4301e041d0 | 56 | } |
12f2027a | 0:fa4301e041d0 | 57 | |
12f2027a | 0:fa4301e041d0 | 58 | |
12f2027a | 0:fa4301e041d0 | 59 | /*2 センサ2が黒*/ |
12f2027a | 0:fa4301e041d0 | 60 | else if(sw1 > 0.5 && sw2 <= 0.3 && sw3 > 0.5 && sw4 > 0.5 && sw5 > 0.5){ |
12f2027a | 0:fa4301e041d0 | 61 | motor.Drive(0, CW, 2000); |
12f2027a | 0:fa4301e041d0 | 62 | motor.Drive(1, CW, 4095); |
12f2027a | 0:fa4301e041d0 | 63 | |
12f2027a | 0:fa4301e041d0 | 64 | } |
12f2027a | 0:fa4301e041d0 | 65 | |
12f2027a | 0:fa4301e041d0 | 66 | |
12f2027a | 0:fa4301e041d0 | 67 | /*3 センサ3が黒*/ |
12f2027a | 0:fa4301e041d0 | 68 | else if(sw1 > 0.5 && sw2 > 0.5 && sw3 <= 0.3 && sw4 > 0.5 && sw5 > 0.5){ |
12f2027a | 0:fa4301e041d0 | 69 | motor.Drive(0, CW, 4095); |
12f2027a | 0:fa4301e041d0 | 70 | motor.Drive(1, CW, 4095); |
12f2027a | 0:fa4301e041d0 | 71 | |
12f2027a | 0:fa4301e041d0 | 72 | } |
12f2027a | 0:fa4301e041d0 | 73 | |
12f2027a | 0:fa4301e041d0 | 74 | |
12f2027a | 0:fa4301e041d0 | 75 | /*4 センサ4が黒*/ |
12f2027a | 0:fa4301e041d0 | 76 | else if(sw1 > 0.5 && sw2 > 0.5 && sw3 > 0.5 && sw4 <= 0.3 && sw5 > 0.5){ |
12f2027a | 0:fa4301e041d0 | 77 | motor.Drive(0, CW, 4095); |
12f2027a | 0:fa4301e041d0 | 78 | motor.Drive(1, CW, 2000); |
12f2027a | 0:fa4301e041d0 | 79 | |
12f2027a | 0:fa4301e041d0 | 80 | } |
12f2027a | 0:fa4301e041d0 | 81 | |
12f2027a | 0:fa4301e041d0 | 82 | |
12f2027a | 0:fa4301e041d0 | 83 | /*5 センサ5が黒*/ |
12f2027a | 0:fa4301e041d0 | 84 | else if(sw1 > 0.5 && sw2 > 0.5 && sw3 > 0.5 && sw4 > 0.5 && sw5 <= 0.3){ |
12f2027a | 0:fa4301e041d0 | 85 | motor.Drive(0, CW, 4095); |
12f2027a | 0:fa4301e041d0 | 86 | motor.Drive(1, CW, 1500); |
12f2027a | 0:fa4301e041d0 | 87 | |
12f2027a | 0:fa4301e041d0 | 88 | } |
12f2027a | 0:fa4301e041d0 | 89 | |
12f2027a | 0:fa4301e041d0 | 90 | /*6 センサ2-3が黒*/ |
12f2027a | 0:fa4301e041d0 | 91 | else if(sw1 > 0.5 && sw2 <= 0.3 && sw3 <= 0.3 && sw4 > 0.5 && sw5 > 0.5){ |
12f2027a | 0:fa4301e041d0 | 92 | motor.Drive(0, CW, 3000); |
12f2027a | 0:fa4301e041d0 | 93 | motor.Drive(1, CW, 4095); |
12f2027a | 0:fa4301e041d0 | 94 | |
12f2027a | 0:fa4301e041d0 | 95 | } |
12f2027a | 0:fa4301e041d0 | 96 | |
12f2027a | 0:fa4301e041d0 | 97 | /*7 センサ2-5が黒*/ |
12f2027a | 0:fa4301e041d0 | 98 | else if(sw1 > 0.5 && sw2 <= 0.3 && sw3 > 0.5 && sw4 > 0.5 &&sw5 <= 0.5){ |
12f2027a | 0:fa4301e041d0 | 99 | motor.Drive(0, CW, 4095); |
12f2027a | 0:fa4301e041d0 | 100 | motor.Drive(1, STOP, 0); |
12f2027a | 0:fa4301e041d0 | 101 | |
12f2027a | 0:fa4301e041d0 | 102 | } |
12f2027a | 0:fa4301e041d0 | 103 | |
12f2027a | 0:fa4301e041d0 | 104 | /*8 センサ3-4が黒*/ |
12f2027a | 0:fa4301e041d0 | 105 | else if(sw1 > 0.5 && sw2 > 0.5 && sw3 <= 0.3 && sw4 <= 0.3 && sw5 > 0.5){ |
12f2027a | 0:fa4301e041d0 | 106 | motor.Drive(0, CW, 4095); |
12f2027a | 0:fa4301e041d0 | 107 | motor.Drive(1, CW, 3000); |
12f2027a | 0:fa4301e041d0 | 108 | |
12f2027a | 0:fa4301e041d0 | 109 | } |
12f2027a | 0:fa4301e041d0 | 110 | |
12f2027a | 0:fa4301e041d0 | 111 | /*9 センサ3-5が黒*/ |
12f2027a | 0:fa4301e041d0 | 112 | else if(sw1 > 0.5 && sw2 > 0.5 && sw3 <= 0.3 && sw4 > 0.5 && sw5 <= 0.5){ |
12f2027a | 0:fa4301e041d0 | 113 | motor.Drive(0, CW, 4095); |
12f2027a | 0:fa4301e041d0 | 114 | motor.Drive(1, STOP, 0); |
12f2027a | 0:fa4301e041d0 | 115 | |
12f2027a | 0:fa4301e041d0 | 116 | } |
12f2027a | 0:fa4301e041d0 | 117 | /*10 センサ4-5が黒*/ |
12f2027a | 0:fa4301e041d0 | 118 | else if(sw1 > 0.5 && sw2 > 0.5 && sw3 > 0.5 && sw4 <= 0.3 && sw5 <= 0.5){ |
12f2027a | 0:fa4301e041d0 | 119 | motor.Drive(0, CW, 4095); |
12f2027a | 0:fa4301e041d0 | 120 | motor.Drive(1, STOP, 0); |
12f2027a | 0:fa4301e041d0 | 121 | |
12f2027a | 0:fa4301e041d0 | 122 | } |
12f2027a | 0:fa4301e041d0 | 123 | |
12f2027a | 0:fa4301e041d0 | 124 | /*11 センサ2-3-5が黒*/ |
12f2027a | 0:fa4301e041d0 | 125 | else if(sw1 > 0.5 && sw2 <= 0.3 && sw3 <= 0.3 && sw4 > 0.5 && sw5 <= 0.5){ |
12f2027a | 0:fa4301e041d0 | 126 | motor.Drive(0, CW, 4095); |
12f2027a | 0:fa4301e041d0 | 127 | motor.Drive(1, STOP, 0); |
12f2027a | 0:fa4301e041d0 | 128 | |
12f2027a | 0:fa4301e041d0 | 129 | } |
12f2027a | 0:fa4301e041d0 | 130 | |
12f2027a | 0:fa4301e041d0 | 131 | /*12 センサ3-4-5が黒*/ |
12f2027a | 0:fa4301e041d0 | 132 | else if(sw1 > 0.5 && sw2 > 0.5 && sw3 <= 0.3 && sw4 <= 0.3 && sw5 <= 0.5){ |
12f2027a | 0:fa4301e041d0 | 133 | motor.Drive(0, CW, 4095); |
12f2027a | 0:fa4301e041d0 | 134 | motor.Drive(1, STOP, 0); |
12f2027a | 0:fa4301e041d0 | 135 | |
12f2027a | 0:fa4301e041d0 | 136 | } |
12f2027a | 0:fa4301e041d0 | 137 | |
12f2027a | 0:fa4301e041d0 | 138 | /*13 全部白*/ |
12f2027a | 0:fa4301e041d0 | 139 | else if(sw1 > 0.5 && sw2 > 0.5 && sw3 > 0.5 && sw4 > 0.5 && sw5 > 0.5){ |
12f2027a | 0:fa4301e041d0 | 140 | motor.Drive(0, CW, 4095); |
12f2027a | 0:fa4301e041d0 | 141 | motor.Drive(1, CCW, 4095); |
12f2027a | 0:fa4301e041d0 | 142 | |
12f2027a | 0:fa4301e041d0 | 143 | } |
12f2027a | 0:fa4301e041d0 | 144 | |
12f2027a | 0:fa4301e041d0 | 145 | /**********************************/ |
12f2027a | 0:fa4301e041d0 | 146 | /*停止位置で止まるためのプログラム*/ |
12f2027a | 0:fa4301e041d0 | 147 | /**********************************/ |
12f2027a | 0:fa4301e041d0 | 148 | |
12f2027a | 0:fa4301e041d0 | 149 | /*14 センサ1-3-5が黒*/ |
12f2027a | 0:fa4301e041d0 | 150 | else if(sw1 <= 0.5 && sw2 > 0.5 && sw3 <= 0.5 && sw4 > 0.5 && sw5 <= 0.5){ |
12f2027a | 0:fa4301e041d0 | 151 | motor.Drive(0, STOP, 0); |
12f2027a | 0:fa4301e041d0 | 152 | motor.Drive(1, STOP, 0); |
12f2027a | 0:fa4301e041d0 | 153 | break; |
12f2027a | 0:fa4301e041d0 | 154 | |
12f2027a | 0:fa4301e041d0 | 155 | } |
12f2027a | 0:fa4301e041d0 | 156 | |
12f2027a | 0:fa4301e041d0 | 157 | /*15 センサ1-2-5が黒*/ |
12f2027a | 0:fa4301e041d0 | 158 | else if(sw1 <= 0.5 && sw2 <= 0.5 && sw3 > 0.5 && sw4 > 0.5 && sw5 <= 0.5){ |
12f2027a | 0:fa4301e041d0 | 159 | motor.Drive(0, STOP, 0); |
12f2027a | 0:fa4301e041d0 | 160 | motor.Drive(1, STOP, 0); |
12f2027a | 0:fa4301e041d0 | 161 | break; |
12f2027a | 0:fa4301e041d0 | 162 | |
12f2027a | 0:fa4301e041d0 | 163 | } |
12f2027a | 0:fa4301e041d0 | 164 | |
12f2027a | 0:fa4301e041d0 | 165 | /*16 センサ1-4-5が黒*/ |
12f2027a | 0:fa4301e041d0 | 166 | else if(sw1 <= 0.5 && sw2 > 0.5 && sw3 > 0.5 && sw4 <= 0.5 && sw5 <= 0.5){ |
12f2027a | 0:fa4301e041d0 | 167 | motor.Drive(0, STOP, 0); |
12f2027a | 0:fa4301e041d0 | 168 | motor.Drive(1, STOP, 0); |
12f2027a | 0:fa4301e041d0 | 169 | break; |
12f2027a | 0:fa4301e041d0 | 170 | } |
12f2027a | 0:fa4301e041d0 | 171 | |
12f2027a | 0:fa4301e041d0 | 172 | /*17 センサ1-2-3-5が黒*/ |
12f2027a | 0:fa4301e041d0 | 173 | else if(sw1 <= 0.5 && sw2 <= 0.5 && sw3 <= 0.5 && sw4 > 0.5 && sw5 <= 0.5){ |
12f2027a | 0:fa4301e041d0 | 174 | motor.Drive(0, STOP, 0); |
12f2027a | 0:fa4301e041d0 | 175 | motor.Drive(1, STOP, 0); |
12f2027a | 0:fa4301e041d0 | 176 | break; |
12f2027a | 0:fa4301e041d0 | 177 | } |
12f2027a | 0:fa4301e041d0 | 178 | |
12f2027a | 0:fa4301e041d0 | 179 | /*18 センサ1-2-3-5が黒*/ |
12f2027a | 0:fa4301e041d0 | 180 | else if(sw1 <= 0.5 && sw2 > 0.5 && sw3 <= 0.5 && sw4 <= 0.5 && sw5 <= 0.5){ |
12f2027a | 0:fa4301e041d0 | 181 | motor.Drive(0, STOP, 0); |
12f2027a | 0:fa4301e041d0 | 182 | motor.Drive(1, STOP, 0); |
12f2027a | 0:fa4301e041d0 | 183 | break; |
12f2027a | 0:fa4301e041d0 | 184 | } |
12f2027a | 0:fa4301e041d0 | 185 | |
12f2027a | 0:fa4301e041d0 | 186 | /*19 センサ1-4-5が黒*/ |
12f2027a | 0:fa4301e041d0 | 187 | else if(sw1 <= 0.5 && sw2 > 0.5 && sw3 > 0.5 && sw4 <= 0.5 && sw5 <= 0.5){ |
12f2027a | 0:fa4301e041d0 | 188 | motor.Drive(0, STOP, 0); |
12f2027a | 0:fa4301e041d0 | 189 | motor.Drive(1, STOP, 0); |
12f2027a | 0:fa4301e041d0 | 190 | break; |
12f2027a | 0:fa4301e041d0 | 191 | } |
12f2027a | 0:fa4301e041d0 | 192 | |
12f2027a | 0:fa4301e041d0 | 193 | /*19 センサ1-2-5が黒*/ |
12f2027a | 0:fa4301e041d0 | 194 | else if(sw1 <= 0.5 && sw2 <= 0.5 && sw3 > 0.5 && sw4 > 0.5 && sw5 <= 0.5){ |
12f2027a | 0:fa4301e041d0 | 195 | motor.Drive(0, STOP, 0); |
12f2027a | 0:fa4301e041d0 | 196 | motor.Drive(1, STOP, 0); |
12f2027a | 0:fa4301e041d0 | 197 | break; |
12f2027a | 0:fa4301e041d0 | 198 | } |
12f2027a | 0:fa4301e041d0 | 199 | |
12f2027a | 0:fa4301e041d0 | 200 | /*21 センサ1-3-4が黒*/ |
12f2027a | 0:fa4301e041d0 | 201 | else if(sw1 <= 0.5 && sw2 > 0.5 && sw3 <= 0.5 && sw4 <= 0.5 && sw5 > 0.5){ |
12f2027a | 0:fa4301e041d0 | 202 | motor.Drive(0, STOP, 0); |
12f2027a | 0:fa4301e041d0 | 203 | motor.Drive(1, STOP, 0); |
12f2027a | 0:fa4301e041d0 | 204 | break; |
12f2027a | 0:fa4301e041d0 | 205 | |
12f2027a | 0:fa4301e041d0 | 206 | } |
12f2027a | 0:fa4301e041d0 | 207 | |
12f2027a | 0:fa4301e041d0 | 208 | /*22 センサ1-4が黒*/ |
12f2027a | 0:fa4301e041d0 | 209 | else if(sw1 <= 0.5 && sw2 > 0.5 && sw3 > 0.5 && sw4 <= 0.5 && sw5 > 0.5){ |
12f2027a | 0:fa4301e041d0 | 210 | motor.Drive(0, STOP, 0); |
12f2027a | 0:fa4301e041d0 | 211 | motor.Drive(1, STOP, 0); |
12f2027a | 0:fa4301e041d0 | 212 | break; |
12f2027a | 0:fa4301e041d0 | 213 | |
12f2027a | 0:fa4301e041d0 | 214 | } |
12f2027a | 0:fa4301e041d0 | 215 | } |
12f2027a | 0:fa4301e041d0 | 216 | motor.Drive(0, STOP, 0); |
12f2027a | 0:fa4301e041d0 | 217 | motor.Drive(1, STOP, 0); |
12f2027a | 0:fa4301e041d0 | 218 | wait(0.1); |
12f2027a | 0:fa4301e041d0 | 219 | lift.Drive(0, CCW, 4095); |
12f2027a | 0:fa4301e041d0 | 220 | wait(1.5); |
12f2027a | 0:fa4301e041d0 | 221 | lift.Drive(0, STOP, 0); |
12f2027a | 0:fa4301e041d0 | 222 | wait(0.1); |
12f2027a | 0:fa4301e041d0 | 223 | motor.Drive(0, CW, 4095); |
12f2027a | 0:fa4301e041d0 | 224 | motor.Drive(1, CW, 4095); |
12f2027a | 0:fa4301e041d0 | 225 | wait(1.0); |
12f2027a | 0:fa4301e041d0 | 226 | |
12f2027a | 0:fa4301e041d0 | 227 | |
12f2027a | 0:fa4301e041d0 | 228 | |
12f2027a | 0:fa4301e041d0 | 229 | |
12f2027a | 0:fa4301e041d0 | 230 | /********************************/ |
12f2027a | 0:fa4301e041d0 | 231 | /********************************/ |
12f2027a | 0:fa4301e041d0 | 232 | /********************************/ |
12f2027a | 0:fa4301e041d0 | 233 | /*荷物を持ち上げた後のプログラム*/ |
12f2027a | 0:fa4301e041d0 | 234 | /********************************/ |
12f2027a | 0:fa4301e041d0 | 235 | /********************************/ |
12f2027a | 0:fa4301e041d0 | 236 | /********************************/ |
12f2027a | 0:fa4301e041d0 | 237 | |
12f2027a | 0:fa4301e041d0 | 238 | |
12f2027a | 0:fa4301e041d0 | 239 | while(1){ |
12f2027a | 0:fa4301e041d0 | 240 | |
12f2027a | 0:fa4301e041d0 | 241 | hoge1 = sw1.read(); |
12f2027a | 0:fa4301e041d0 | 242 | hoge2 = sw2.read(); |
12f2027a | 0:fa4301e041d0 | 243 | hoge3 = sw3.read(); |
12f2027a | 0:fa4301e041d0 | 244 | hoge4 = sw4.read(); |
12f2027a | 0:fa4301e041d0 | 245 | hoge5 = sw5.read(); |
12f2027a | 0:fa4301e041d0 | 246 | |
12f2027a | 0:fa4301e041d0 | 247 | |
12f2027a | 0:fa4301e041d0 | 248 | /************************************/ |
12f2027a | 0:fa4301e041d0 | 249 | /*ラインに沿って走るためのプログラム*/ |
12f2027a | 0:fa4301e041d0 | 250 | /************************************/ |
12f2027a | 0:fa4301e041d0 | 251 | |
12f2027a | 0:fa4301e041d0 | 252 | |
12f2027a | 0:fa4301e041d0 | 253 | /*1 センサ1が黒*/ |
12f2027a | 0:fa4301e041d0 | 254 | if(sw1 <= 0.3 && sw2 > 0.5 && sw3 > 0.5 && sw4 > 0.5 && sw5 > 0.5){ |
12f2027a | 0:fa4301e041d0 | 255 | motor.Drive(0, CW, 1500); |
12f2027a | 0:fa4301e041d0 | 256 | motor.Drive(1, CW, 4095); |
12f2027a | 0:fa4301e041d0 | 257 | |
12f2027a | 0:fa4301e041d0 | 258 | } |
12f2027a | 0:fa4301e041d0 | 259 | |
12f2027a | 0:fa4301e041d0 | 260 | |
12f2027a | 0:fa4301e041d0 | 261 | /*2 センサ2が黒*/ |
12f2027a | 0:fa4301e041d0 | 262 | else if(sw1 > 0.5 && sw2 <= 0.3 && sw3 > 0.5 && sw4 > 0.5 && sw5 > 0.5){ |
12f2027a | 0:fa4301e041d0 | 263 | motor.Drive(0, CW, 2000); |
12f2027a | 0:fa4301e041d0 | 264 | motor.Drive(1, CW, 4095); |
12f2027a | 0:fa4301e041d0 | 265 | |
12f2027a | 0:fa4301e041d0 | 266 | } |
12f2027a | 0:fa4301e041d0 | 267 | |
12f2027a | 0:fa4301e041d0 | 268 | |
12f2027a | 0:fa4301e041d0 | 269 | /*3 センサ3が黒*/ |
12f2027a | 0:fa4301e041d0 | 270 | else if(sw1 > 0.5 && sw2 > 0.5 && sw3 <= 0.3 && sw4 > 0.5 && sw5 > 0.5){ |
12f2027a | 0:fa4301e041d0 | 271 | motor.Drive(0, CW, 4095); |
12f2027a | 0:fa4301e041d0 | 272 | motor.Drive(1, CW, 4095); |
12f2027a | 0:fa4301e041d0 | 273 | |
12f2027a | 0:fa4301e041d0 | 274 | } |
12f2027a | 0:fa4301e041d0 | 275 | |
12f2027a | 0:fa4301e041d0 | 276 | |
12f2027a | 0:fa4301e041d0 | 277 | /*4 センサ4が黒*/ |
12f2027a | 0:fa4301e041d0 | 278 | else if(sw1 > 0.5 && sw2 > 0.5 && sw3 > 0.5 && sw4 <= 0.3 && sw5 > 0.5){ |
12f2027a | 0:fa4301e041d0 | 279 | motor.Drive(0, CW, 4095); |
12f2027a | 0:fa4301e041d0 | 280 | motor.Drive(1, CW, 2000); |
12f2027a | 0:fa4301e041d0 | 281 | |
12f2027a | 0:fa4301e041d0 | 282 | } |
12f2027a | 0:fa4301e041d0 | 283 | |
12f2027a | 0:fa4301e041d0 | 284 | |
12f2027a | 0:fa4301e041d0 | 285 | /*5 センサ5が黒*/ |
12f2027a | 0:fa4301e041d0 | 286 | else if(sw1 > 0.5 && sw2 > 0.5 && sw3 > 0.5 && sw4 > 0.5 && sw5 <= 0.3){ |
12f2027a | 0:fa4301e041d0 | 287 | motor.Drive(0, CW, 4095); |
12f2027a | 0:fa4301e041d0 | 288 | motor.Drive(1, CW, 1500); |
12f2027a | 0:fa4301e041d0 | 289 | |
12f2027a | 0:fa4301e041d0 | 290 | } |
12f2027a | 0:fa4301e041d0 | 291 | |
12f2027a | 0:fa4301e041d0 | 292 | /*6 センサ2-3が黒*/ |
12f2027a | 0:fa4301e041d0 | 293 | else if(sw1 > 0.5 && sw2 <= 0.3 && sw3 <= 0.3 && sw4 > 0.5 && sw5 > 0.5){ |
12f2027a | 0:fa4301e041d0 | 294 | motor.Drive(0, CW, 3000); |
12f2027a | 0:fa4301e041d0 | 295 | motor.Drive(1, CW, 4095); |
12f2027a | 0:fa4301e041d0 | 296 | |
12f2027a | 0:fa4301e041d0 | 297 | } |
12f2027a | 0:fa4301e041d0 | 298 | |
12f2027a | 0:fa4301e041d0 | 299 | /*7 センサ2-5が黒*/ |
12f2027a | 0:fa4301e041d0 | 300 | else if(sw1 > 0.5 && sw2 <= 0.3 && sw3 > 0.5 && sw4 > 0.5 &&sw5 <= 0.5){ |
12f2027a | 0:fa4301e041d0 | 301 | motor.Drive(0, CW, 4095); |
12f2027a | 0:fa4301e041d0 | 302 | motor.Drive(1, STOP, 0); |
12f2027a | 0:fa4301e041d0 | 303 | |
12f2027a | 0:fa4301e041d0 | 304 | } |
12f2027a | 0:fa4301e041d0 | 305 | |
12f2027a | 0:fa4301e041d0 | 306 | /*8 センサ3-4が黒*/ |
12f2027a | 0:fa4301e041d0 | 307 | else if(sw1 > 0.5 && sw2 > 0.5 && sw3 <= 0.3 && sw4 <= 0.3 && sw5 > 0.5){ |
12f2027a | 0:fa4301e041d0 | 308 | motor.Drive(0, CW, 4095); |
12f2027a | 0:fa4301e041d0 | 309 | motor.Drive(1, CW, 3000); |
12f2027a | 0:fa4301e041d0 | 310 | |
12f2027a | 0:fa4301e041d0 | 311 | } |
12f2027a | 0:fa4301e041d0 | 312 | |
12f2027a | 0:fa4301e041d0 | 313 | /*9 センサ3-5が黒*/ |
12f2027a | 0:fa4301e041d0 | 314 | else if(sw1 > 0.5 && sw2 > 0.5 && sw3 <= 0.3 && sw4 > 0.5 && sw5 <= 0.5){ |
12f2027a | 0:fa4301e041d0 | 315 | motor.Drive(0, CW, 4095); |
12f2027a | 0:fa4301e041d0 | 316 | motor.Drive(1, STOP, 0); |
12f2027a | 0:fa4301e041d0 | 317 | |
12f2027a | 0:fa4301e041d0 | 318 | } |
12f2027a | 0:fa4301e041d0 | 319 | /*10 センサ4-5が黒*/ |
12f2027a | 0:fa4301e041d0 | 320 | else if(sw1 > 0.5 && sw2 > 0.5 && sw3 > 0.5 && sw4 <= 0.3 && sw5 <= 0.5){ |
12f2027a | 0:fa4301e041d0 | 321 | motor.Drive(0, CW, 4095); |
12f2027a | 0:fa4301e041d0 | 322 | motor.Drive(1, STOP, 0); |
12f2027a | 0:fa4301e041d0 | 323 | |
12f2027a | 0:fa4301e041d0 | 324 | } |
12f2027a | 0:fa4301e041d0 | 325 | |
12f2027a | 0:fa4301e041d0 | 326 | /*11 センサ2-3-5が黒*/ |
12f2027a | 0:fa4301e041d0 | 327 | else if(sw1 > 0.5 && sw2 <= 0.3 && sw3 <= 0.3 && sw4 > 0.5 && sw5 <= 0.5){ |
12f2027a | 0:fa4301e041d0 | 328 | motor.Drive(0, CW, 4095); |
12f2027a | 0:fa4301e041d0 | 329 | motor.Drive(1, STOP, 0); |
12f2027a | 0:fa4301e041d0 | 330 | |
12f2027a | 0:fa4301e041d0 | 331 | } |
12f2027a | 0:fa4301e041d0 | 332 | |
12f2027a | 0:fa4301e041d0 | 333 | /*12 センサ3-4-5が黒*/ |
12f2027a | 0:fa4301e041d0 | 334 | else if(sw1 > 0.5 && sw2 > 0.5 && sw3 <= 0.3 && sw4 <= 0.3 && sw5 <= 0.5){ |
12f2027a | 0:fa4301e041d0 | 335 | motor.Drive(0, CW, 4095); |
12f2027a | 0:fa4301e041d0 | 336 | motor.Drive(1, STOP, 0); |
12f2027a | 0:fa4301e041d0 | 337 | |
12f2027a | 0:fa4301e041d0 | 338 | } |
12f2027a | 0:fa4301e041d0 | 339 | |
12f2027a | 0:fa4301e041d0 | 340 | /*13 全部白*/ |
12f2027a | 0:fa4301e041d0 | 341 | else if(sw1 > 0.5 && sw2 > 0.5 && sw3 > 0.5 && sw4 > 0.5 && sw5 > 0.5){ |
12f2027a | 0:fa4301e041d0 | 342 | motor.Drive(0, CW, 4095); |
12f2027a | 0:fa4301e041d0 | 343 | motor.Drive(1, CCW, 4095); |
12f2027a | 0:fa4301e041d0 | 344 | |
12f2027a | 0:fa4301e041d0 | 345 | } |
12f2027a | 0:fa4301e041d0 | 346 | |
12f2027a | 0:fa4301e041d0 | 347 | /**********************************/ |
12f2027a | 0:fa4301e041d0 | 348 | /*停止位置で止まるためのプログラム*/ |
12f2027a | 0:fa4301e041d0 | 349 | /**********************************/ |
12f2027a | 0:fa4301e041d0 | 350 | |
12f2027a | 0:fa4301e041d0 | 351 | /*14 センサ1-3-5が黒*/ |
12f2027a | 0:fa4301e041d0 | 352 | else if(sw1 <= 0.5 && sw2 > 0.5 && sw3 <= 0.5 && sw4 > 0.5 && sw5 <= 0.5){ |
12f2027a | 0:fa4301e041d0 | 353 | motor.Drive(0, STOP, 0); |
12f2027a | 0:fa4301e041d0 | 354 | motor.Drive(1, STOP, 0); |
12f2027a | 0:fa4301e041d0 | 355 | break; |
12f2027a | 0:fa4301e041d0 | 356 | |
12f2027a | 0:fa4301e041d0 | 357 | } |
12f2027a | 0:fa4301e041d0 | 358 | |
12f2027a | 0:fa4301e041d0 | 359 | /*15 センサ1-2-5が黒*/ |
12f2027a | 0:fa4301e041d0 | 360 | else if(sw1 <= 0.5 && sw2 <= 0.5 && sw3 > 0.5 && sw4 > 0.5 && sw5 <= 0.5){ |
12f2027a | 0:fa4301e041d0 | 361 | motor.Drive(0, STOP, 0); |
12f2027a | 0:fa4301e041d0 | 362 | motor.Drive(1, STOP, 0); |
12f2027a | 0:fa4301e041d0 | 363 | break; |
12f2027a | 0:fa4301e041d0 | 364 | |
12f2027a | 0:fa4301e041d0 | 365 | } |
12f2027a | 0:fa4301e041d0 | 366 | |
12f2027a | 0:fa4301e041d0 | 367 | /*16 センサ1-4-5が黒*/ |
12f2027a | 0:fa4301e041d0 | 368 | else if(sw1 <= 0.5 && sw2 > 0.5 && sw3 > 0.5 && sw4 <= 0.5 && sw5 <= 0.5){ |
12f2027a | 0:fa4301e041d0 | 369 | motor.Drive(0, STOP, 0); |
12f2027a | 0:fa4301e041d0 | 370 | motor.Drive(1, STOP, 0); |
12f2027a | 0:fa4301e041d0 | 371 | break; |
12f2027a | 0:fa4301e041d0 | 372 | } |
12f2027a | 0:fa4301e041d0 | 373 | |
12f2027a | 0:fa4301e041d0 | 374 | /*17 センサ1-2-3-5が黒*/ |
12f2027a | 0:fa4301e041d0 | 375 | else if(sw1 <= 0.5 && sw2 <= 0.5 && sw3 <= 0.5 && sw4 > 0.5 && sw5 <= 0.5){ |
12f2027a | 0:fa4301e041d0 | 376 | motor.Drive(0, STOP, 0); |
12f2027a | 0:fa4301e041d0 | 377 | motor.Drive(1, STOP, 0); |
12f2027a | 0:fa4301e041d0 | 378 | break; |
12f2027a | 0:fa4301e041d0 | 379 | } |
12f2027a | 0:fa4301e041d0 | 380 | |
12f2027a | 0:fa4301e041d0 | 381 | /*18 センサ1-2-3-5が黒*/ |
12f2027a | 0:fa4301e041d0 | 382 | else if(sw1 <= 0.5 && sw2 > 0.5 && sw3 <= 0.5 && sw4 <= 0.5 && sw5 <= 0.5){ |
12f2027a | 0:fa4301e041d0 | 383 | motor.Drive(0, STOP, 0); |
12f2027a | 0:fa4301e041d0 | 384 | motor.Drive(1, STOP, 0); |
12f2027a | 0:fa4301e041d0 | 385 | break; |
12f2027a | 0:fa4301e041d0 | 386 | } |
12f2027a | 0:fa4301e041d0 | 387 | |
12f2027a | 0:fa4301e041d0 | 388 | /*19 センサ1-4-5が黒*/ |
12f2027a | 0:fa4301e041d0 | 389 | else if(sw1 <= 0.5 && sw2 > 0.5 && sw3 > 0.5 && sw4 <= 0.5 && sw5 <= 0.5){ |
12f2027a | 0:fa4301e041d0 | 390 | motor.Drive(0, STOP, 0); |
12f2027a | 0:fa4301e041d0 | 391 | motor.Drive(1, STOP, 0); |
12f2027a | 0:fa4301e041d0 | 392 | break; |
12f2027a | 0:fa4301e041d0 | 393 | } |
12f2027a | 0:fa4301e041d0 | 394 | |
12f2027a | 0:fa4301e041d0 | 395 | /*19 センサ1-2-5が黒*/ |
12f2027a | 0:fa4301e041d0 | 396 | else if(sw1 <= 0.5 && sw2 <= 0.5 && sw3 > 0.5 && sw4 > 0.5 && sw5 <= 0.5){ |
12f2027a | 0:fa4301e041d0 | 397 | motor.Drive(0, STOP, 0); |
12f2027a | 0:fa4301e041d0 | 398 | motor.Drive(1, STOP, 0); |
12f2027a | 0:fa4301e041d0 | 399 | break; |
12f2027a | 0:fa4301e041d0 | 400 | } |
12f2027a | 0:fa4301e041d0 | 401 | |
12f2027a | 0:fa4301e041d0 | 402 | /*21 センサ1-3-4が黒*/ |
12f2027a | 0:fa4301e041d0 | 403 | else if(sw1 <= 0.5 && sw2 > 0.5 && sw3 <= 0.5 && sw4 <= 0.5 && sw5 > 0.5){ |
12f2027a | 0:fa4301e041d0 | 404 | motor.Drive(0, STOP, 0); |
12f2027a | 0:fa4301e041d0 | 405 | motor.Drive(1, STOP, 0); |
12f2027a | 0:fa4301e041d0 | 406 | break; |
12f2027a | 0:fa4301e041d0 | 407 | |
12f2027a | 0:fa4301e041d0 | 408 | } |
12f2027a | 0:fa4301e041d0 | 409 | |
12f2027a | 0:fa4301e041d0 | 410 | /*22 センサ1-4が黒*/ |
12f2027a | 0:fa4301e041d0 | 411 | else if(sw1 <= 0.5 && sw2 > 0.5 && sw3 > 0.5 && sw4 <= 0.5 && sw5 > 0.5){ |
12f2027a | 0:fa4301e041d0 | 412 | motor.Drive(0, STOP, 0); |
12f2027a | 0:fa4301e041d0 | 413 | motor.Drive(1, STOP, 0); |
12f2027a | 0:fa4301e041d0 | 414 | break; |
12f2027a | 0:fa4301e041d0 | 415 | |
12f2027a | 0:fa4301e041d0 | 416 | } |
12f2027a | 0:fa4301e041d0 | 417 | } |
12f2027a | 0:fa4301e041d0 | 418 | |
12f2027a | 0:fa4301e041d0 | 419 | motor.Drive(0, STOP, 0); |
12f2027a | 0:fa4301e041d0 | 420 | motor.Drive(1, STOP, 0); |
12f2027a | 0:fa4301e041d0 | 421 | wait(0.1); |
12f2027a | 0:fa4301e041d0 | 422 | lift.Drive(0, CW, 4095); |
12f2027a | 0:fa4301e041d0 | 423 | wait(1.0); |
12f2027a | 0:fa4301e041d0 | 424 | lift.Drive(0, STOP, 0); |
12f2027a | 0:fa4301e041d0 | 425 | wait(0.1); |
12f2027a | 0:fa4301e041d0 | 426 | motor.Drive(0, CCW, 4095); |
12f2027a | 0:fa4301e041d0 | 427 | motor.Drive(1, CCW, 4095); |
12f2027a | 0:fa4301e041d0 | 428 | wait(2.0); |
12f2027a | 0:fa4301e041d0 | 429 | motor.Drive(0, STOP, 0); |
12f2027a | 0:fa4301e041d0 | 430 | motor.Drive(1, STOP, 0); |
12f2027a | 0:fa4301e041d0 | 431 | wait(1.0); |
12f2027a | 0:fa4301e041d0 | 432 | |
12f2027a | 0:fa4301e041d0 | 433 | |
12f2027a | 0:fa4301e041d0 | 434 | |
12f2027a | 0:fa4301e041d0 | 435 | } |