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Dependencies: MotorDriver_SU mbed
Fork of tracer by
tracer.cpp@1:a9d9cd966fa4, 2014-10-27 (annotated)
- Committer:
- 12f2039e
- Date:
- Mon Oct 27 05:06:11 2014 +0000
- Revision:
- 1:a9d9cd966fa4
- Parent:
- 0:0f3034bec1f8
a
Who changed what in which revision?
User | Revision | Line number | New 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 main(){ |
12F2041G | 0:0f3034bec1f8 | 12 | while(1){ |
12F2041G | 0:0f3034bec1f8 | 13 | //patern1 |
12F2041G | 0:0f3034bec1f8 | 14 | if(sensor1 == 1 && sensor2 == 1 && sensor3 == 0){ |
12f2039e | 1:a9d9cd966fa4 | 15 | motor.Drive(0, CW, 1700); //右タイヤ |
12f2039e | 1:a9d9cd966fa4 | 16 | motor.Drive(1, CW, 3200);//左タイヤ |
12F2041G | 0:0f3034bec1f8 | 17 | } |
12F2041G | 0:0f3034bec1f8 | 18 | //patern2 |
12F2041G | 0:0f3034bec1f8 | 19 | else if(sensor1 == 1 && sensor2 == 0 && sensor3 == 1){ |
12f2039e | 1:a9d9cd966fa4 | 20 | motor.Drive(0, CW, 3200); |
12f2039e | 1:a9d9cd966fa4 | 21 | motor.Drive(1, CW, 3200); |
12F2041G | 0:0f3034bec1f8 | 22 | } |
12F2041G | 0:0f3034bec1f8 | 23 | //patern3 |
12F2041G | 0:0f3034bec1f8 | 24 | else if(sensor1 == 0 && sensor2 == 1 && sensor3 == 1){ |
12f2039e | 1:a9d9cd966fa4 | 25 | motor.Drive(0, CW, 3200); |
12f2039e | 1:a9d9cd966fa4 | 26 | motor.Drive(1, CW, 1700); |
12F2041G | 0:0f3034bec1f8 | 27 | } |
12F2041G | 0:0f3034bec1f8 | 28 | //patern4 |
12F2041G | 0:0f3034bec1f8 | 29 | else if(sensor1 == 0 && sensor2 == 0 && sensor3 == 1){ |
12f2039e | 1:a9d9cd966fa4 | 30 | motor.Drive(0, CW, 1700); |
12f2039e | 1:a9d9cd966fa4 | 31 | motor.Drive(1, CW, 3200); |
12F2041G | 0:0f3034bec1f8 | 32 | } |
12F2041G | 0:0f3034bec1f8 | 33 | //patern5 |
12F2041G | 0:0f3034bec1f8 | 34 | else if(sensor1 == 1 && sensor2 == 0 && sensor3 == 0){ |
12f2039e | 1:a9d9cd966fa4 | 35 | motor.Drive(0, CW, 3200); |
12f2039e | 1:a9d9cd966fa4 | 36 | motor.Drive(1, CW, 1700); |
12F2041G | 0:0f3034bec1f8 | 37 | } |
12F2041G | 0:0f3034bec1f8 | 38 | //patern6 |
12F2041G | 0:0f3034bec1f8 | 39 | else if(sensor1 == 0 && sensor2 == 0 && sensor3 == 0){ |
12f2039e | 1:a9d9cd966fa4 | 40 | motor.Drive(0, CW, 3200); |
12f2039e | 1:a9d9cd966fa4 | 41 | motor.Drive(1, CW, 3200); |
12F2041G | 0:0f3034bec1f8 | 42 | } |
12F2041G | 0:0f3034bec1f8 | 43 | |
12F2041G | 0:0f3034bec1f8 | 44 | //patern7 |
12F2041G | 0:0f3034bec1f8 | 45 | else if(sensor1 == 0 && sensor2 == 1 && sensor3 == 0){ |
12f2039e | 1:a9d9cd966fa4 | 46 | motor.Drive(0, CW, 3200); |
12f2039e | 1:a9d9cd966fa4 | 47 | motor.Drive(1, CW, 3200); |
12F2041G | 0:0f3034bec1f8 | 48 | } |
12f2039e | 1:a9d9cd966fa4 | 49 | /* |
12F2041G | 0:0f3034bec1f8 | 50 | //patern8 探索回転方向 |
12F2041G | 0:0f3034bec1f8 | 51 | //ラインの右側に出た場合 反時計回り |
12F2041G | 0:0f3034bec1f8 | 52 | else if(sensor1 == 1 && sensor2 == 1 && sensor3 == 1 && hasegawa == 0){ |
12F2041G | 0:0f3034bec1f8 | 53 | motor.Drive(0, CW, 2048); |
12F2041G | 0:0f3034bec1f8 | 54 | motor.Drive(1, CW, 1000); |
12f2039e | 1:a9d9cd966fa4 | 55 | }*/ |
12f2039e | 1:a9d9cd966fa4 | 56 | /*//ラインの左側に出た場合 時計回り |
12F2041G | 0:0f3034bec1f8 | 57 | else if(sensor1 == 1 && sensor2 == 1 && sensor3 == 1 && hasegawa == 1){ |
12F2041G | 0:0f3034bec1f8 | 58 | motor.Drive(0, CW, 1000); |
12F2041G | 0:0f3034bec1f8 | 59 | motor.Drive(1, CW, 2048); |
12f2039e | 1:a9d9cd966fa4 | 60 | }*/ |
12F2041G | 0:0f3034bec1f8 | 61 | else{ |
12f2039e | 1:a9d9cd966fa4 | 62 | motor.Drive(0, CW, 3200); |
12f2039e | 1:a9d9cd966fa4 | 63 | motor.Drive(1, CW, 3200); |
12F2041G | 0:0f3034bec1f8 | 64 | } |
12F2041G | 0:0f3034bec1f8 | 65 | |
12F2041G | 0:0f3034bec1f8 | 66 | } |
12F2041G | 0:0f3034bec1f8 | 67 | |
12F2041G | 0:0f3034bec1f8 | 68 | } |