Revision 1:a9d9cd966fa4, committed 2014-10-27

Comitter:

12f2039e

Date:

Mon Oct 27 05:06:11 2014 +0000

Parent:

0:0f3034bec1f8

Commit message:

a

Changed in this revision

diff -r 0f3034bec1f8 -r a9d9cd966fa4 tracer.cpp
--- a/tracer.cpp	Thu Oct 23 06:55:41 2014 +0000
+++ b/tracer.cpp	Mon Oct 27 05:06:11 2014 +0000
@@ -8,73 +8,59 @@
 MotorDriver_SU motor(MOTOR_DOUBLE);
 MotorDriver_SU lift(MOTOR_SINGLE);
 
-int f = 2048;
-int s = 1000;
-int hasegawa = 0;
-
 int main(){
     while(1){
         //patern1
         if(sensor1 == 1 && sensor2 == 1 && sensor3 == 0){
-            motor.Drive(0, CW, 1000); //右タイヤ
-            motor.Drive(1, CW, 2408);//左タイヤ
-            
-            hasegawa = 1;
+            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, 2048);
-            motor.Drive(1, CW, 2048);
-            
-            hasegawa = 0;//回転方向判定
+            motor.Drive(0, CW, 3200);
+            motor.Drive(1, CW, 3200);
             }
         //patern3
         else if(sensor1 == 0 && sensor2 == 1 && sensor3 == 1){
-            motor.Drive(0, CW, 2048);
-            motor.Drive(1, CW, 1000);
-            
-            hasegawa = 0;
+            motor.Drive(0, CW, 3200);
+            motor.Drive(1, CW, 1700);
             }
         //patern4
         else if(sensor1 == 0 && sensor2 == 0 && sensor3 == 1){
-            motor.Drive(0, CW, 2048);
-            motor.Drive(1, CW, 1000);
-            
-            hasegawa = 0;
+            motor.Drive(0, CW, 1700);
+            motor.Drive(1, CW, 3200);
             }
         //patern5
         else if(sensor1 == 1 && sensor2 == 0 && sensor3 == 0){
-            motor.Drive(0, CW, 1000);
-            motor.Drive(1, CW, 2048);
-            
-            hasegawa = 1;//回転方向判定
+            motor.Drive(0, CW, 3200);
+            motor.Drive(1, CW, 1700);
             }
         //patern6
         else if(sensor1 == 0 && sensor2 == 0 && sensor3 == 0){
-            motor.Drive(0, CW, 2048);
-            motor.Drive(1, CW, 2048);
+            motor.Drive(0, CW, 3200);
+            motor.Drive(1, CW, 3200);
             }
         
         //patern7
         else if(sensor1 == 0 && sensor2 == 1 && sensor3 == 0){
-            motor.Drive(0, CW, 2048);
-            motor.Drive(1, CW, 2048);
+            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
+            }*/
+        /*//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, 2048);
-            motor.Drive(1, CW, 2048);
+            motor.Drive(0, CW, 3200);
+            motor.Drive(1, CW, 3200);
         }
         
     }