a
Dependencies: MotorDriver_SU mbed
Fork of tracer by
tracer.cpp
- Committer:
- 12f2039e
- Date:
- 2014-10-27
- Revision:
- 1:a9d9cd966fa4
- Parent:
- 0:0f3034bec1f8
File content as of revision 1:a9d9cd966fa4:
#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 main(){ while(1){ //patern1 if(sensor1 == 1 && sensor2 == 1 && sensor3 == 0){ motor.Drive(0, CW, 1700); //右タイヤ motor.Drive(1, CW, 3200);//左タイヤ } //patern2 else if(sensor1 == 1 && sensor2 == 0 && sensor3 == 1){ motor.Drive(0, CW, 3200); motor.Drive(1, CW, 3200); } //patern3 else if(sensor1 == 0 && sensor2 == 1 && sensor3 == 1){ motor.Drive(0, CW, 3200); motor.Drive(1, CW, 1700); } //patern4 else if(sensor1 == 0 && sensor2 == 0 && sensor3 == 1){ motor.Drive(0, CW, 1700); motor.Drive(1, CW, 3200); } //patern5 else if(sensor1 == 1 && sensor2 == 0 && sensor3 == 0){ motor.Drive(0, CW, 3200); motor.Drive(1, CW, 1700); } //patern6 else if(sensor1 == 0 && sensor2 == 0 && sensor3 == 0){ motor.Drive(0, CW, 3200); motor.Drive(1, CW, 3200); } //patern7 else if(sensor1 == 0 && sensor2 == 1 && sensor3 == 0){ motor.Drive(0, CW, 3200); motor.Drive(1, CW, 3200); } /* //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, 3200); motor.Drive(1, CW, 3200); } } }