masayushi nisino / Mbed 2 deprecated tracer

a

Dependencies:   MotorDriver_SU mbed

Fork of tracer by Naoki Hasegawa

tracer.cpp@0:0f3034bec1f8, 2014-10-23 (annotated)

Committer:
12F2041G
Date:
Thu Oct 23 06:55:41 2014 +0000
Revision:
0:0f3034bec1f8
Child:
1:a9d9cd966fa4
a

Who changed what in which revision?

UserRevisionLine numberNew contents of line
12F2041G 0:0f3034bec1f8 1 #include "mbed.h"
12F2041G 0:0f3034bec1f8 2 #include "MotorDriver_SU.h"
12F2041G 0:0f3034bec1f8 3
12F2041G 0:0f3034bec1f8 4 DigitalIn sensor1(P0_16);
12F2041G 0:0f3034bec1f8 5 DigitalIn sensor2(P0_13);
12F2041G 0:0f3034bec1f8 6 DigitalIn sensor3(P0_11);
12F2041G 0:0f3034bec1f8 7
12F2041G 0:0f3034bec1f8 8 MotorDriver_SU motor(MOTOR_DOUBLE);
12F2041G 0:0f3034bec1f8 9 MotorDriver_SU lift(MOTOR_SINGLE);
12F2041G 0:0f3034bec1f8 10
12F2041G 0:0f3034bec1f8 11 int f = 2048;
12F2041G 0:0f3034bec1f8 12 int s = 1000;
12F2041G 0:0f3034bec1f8 13 int hasegawa = 0;
12F2041G 0:0f3034bec1f8 14
12F2041G 0:0f3034bec1f8 15 int main(){
12F2041G 0:0f3034bec1f8 16 while(1){
12F2041G 0:0f3034bec1f8 17 //patern1
12F2041G 0:0f3034bec1f8 18 if(sensor1 == 1 && sensor2 == 1 && sensor3 == 0){
12F2041G 0:0f3034bec1f8 19 motor.Drive(0, CW, 1000); //右タイヤ
12F2041G 0:0f3034bec1f8 20 motor.Drive(1, CW, 2408);//左タイヤ
12F2041G 0:0f3034bec1f8 21
12F2041G 0:0f3034bec1f8 22 hasegawa = 1;
12F2041G 0:0f3034bec1f8 23 }
12F2041G 0:0f3034bec1f8 24 //patern2
12F2041G 0:0f3034bec1f8 25 else if(sensor1 == 1 && sensor2 == 0 && sensor3 == 1){
12F2041G 0:0f3034bec1f8 26 motor.Drive(0, CW, 2048);
12F2041G 0:0f3034bec1f8 27 motor.Drive(1, CW, 2048);
12F2041G 0:0f3034bec1f8 28
12F2041G 0:0f3034bec1f8 29 hasegawa = 0;//回転方向判定
12F2041G 0:0f3034bec1f8 30 }
12F2041G 0:0f3034bec1f8 31 //patern3
12F2041G 0:0f3034bec1f8 32 else if(sensor1 == 0 && sensor2 == 1 && sensor3 == 1){
12F2041G 0:0f3034bec1f8 33 motor.Drive(0, CW, 2048);
12F2041G 0:0f3034bec1f8 34 motor.Drive(1, CW, 1000);
12F2041G 0:0f3034bec1f8 35
12F2041G 0:0f3034bec1f8 36 hasegawa = 0;
12F2041G 0:0f3034bec1f8 37 }
12F2041G 0:0f3034bec1f8 38 //patern4
12F2041G 0:0f3034bec1f8 39 else if(sensor1 == 0 && sensor2 == 0 && sensor3 == 1){
12F2041G 0:0f3034bec1f8 40 motor.Drive(0, CW, 2048);
12F2041G 0:0f3034bec1f8 41 motor.Drive(1, CW, 1000);
12F2041G 0:0f3034bec1f8 42
12F2041G 0:0f3034bec1f8 43 hasegawa = 0;
12F2041G 0:0f3034bec1f8 44 }
12F2041G 0:0f3034bec1f8 45 //patern5
12F2041G 0:0f3034bec1f8 46 else if(sensor1 == 1 && sensor2 == 0 && sensor3 == 0){
12F2041G 0:0f3034bec1f8 47 motor.Drive(0, CW, 1000);
12F2041G 0:0f3034bec1f8 48 motor.Drive(1, CW, 2048);
12F2041G 0:0f3034bec1f8 49
12F2041G 0:0f3034bec1f8 50 hasegawa = 1;//回転方向判定
12F2041G 0:0f3034bec1f8 51 }
12F2041G 0:0f3034bec1f8 52 //patern6
12F2041G 0:0f3034bec1f8 53 else if(sensor1 == 0 && sensor2 == 0 && sensor3 == 0){
12F2041G 0:0f3034bec1f8 54 motor.Drive(0, CW, 2048);
12F2041G 0:0f3034bec1f8 55 motor.Drive(1, CW, 2048);
12F2041G 0:0f3034bec1f8 56 }
12F2041G 0:0f3034bec1f8 57
12F2041G 0:0f3034bec1f8 58 //patern7
12F2041G 0:0f3034bec1f8 59 else if(sensor1 == 0 && sensor2 == 1 && sensor3 == 0){
12F2041G 0:0f3034bec1f8 60 motor.Drive(0, CW, 2048);
12F2041G 0:0f3034bec1f8 61 motor.Drive(1, CW, 2048);
12F2041G 0:0f3034bec1f8 62 }
12F2041G 0:0f3034bec1f8 63
12F2041G 0:0f3034bec1f8 64 //patern8 探索回転方向
12F2041G 0:0f3034bec1f8 65 //ラインの右側に出た場合 反時計回り
12F2041G 0:0f3034bec1f8 66 else if(sensor1 == 1 && sensor2 == 1 && sensor3 == 1 && hasegawa == 0){
12F2041G 0:0f3034bec1f8 67 motor.Drive(0, CW, 2048);
12F2041G 0:0f3034bec1f8 68 motor.Drive(1, CW, 1000);
12F2041G 0:0f3034bec1f8 69 }
12F2041G 0:0f3034bec1f8 70 //ラインの左側に出た場合 時計回り
12F2041G 0:0f3034bec1f8 71 else if(sensor1 == 1 && sensor2 == 1 && sensor3 == 1 && hasegawa == 1){
12F2041G 0:0f3034bec1f8 72 motor.Drive(0, CW, 1000);
12F2041G 0:0f3034bec1f8 73 motor.Drive(1, CW, 2048);
12F2041G 0:0f3034bec1f8 74 }
12F2041G 0:0f3034bec1f8 75 else{
12F2041G 0:0f3034bec1f8 76 motor.Drive(0, CW, 2048);
12F2041G 0:0f3034bec1f8 77 motor.Drive(1, CW, 2048);
12F2041G 0:0f3034bec1f8 78 }
12F2041G 0:0f3034bec1f8 79
12F2041G 0:0f3034bec1f8 80 }
12F2041G 0:0f3034bec1f8 81
12F2041G 0:0f3034bec1f8 82 }