Diff: tracer.cpp

Revision:

5:477e7d629ea8

Parent:

4:309fe4076d74

--- a/tracer.cpp	Fri Nov 07 07:00:02 2014 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,120 +0,0 @@
-#include "mbed.h"
-#include "MotorDriver_SU.h"
-
-DigitalIn sw(P0_1, PullUp); 
-// trace L to R
-DigitalIn sensor1(P0_16);
-DigitalIn sensor2(P0_13);
-DigitalIn sensor3(P0_11);
-// lift L to R
-DigitalIn sensor4(P0_12);
-DigitalIn sensor5(P0_14);
- 
-MotorDriver_SU motor(MOTOR_DOUBLE);
-MotorDriver_SU lift(MOTOR_SINGLE);
- 
-int main(){
-    while(1){
-    int height = 0;//リフト位置指定
-    while(sw == 0){
-                motor.Drive(0, STOP, 0); //右タイヤ
-                motor.Drive(1, STOP, 0);//左タイヤ
-                lift.Drive(0, STOP, 0);
-        }
-    while(sw == 1){
-        //patern1
-            if(sensor1 == 1 && sensor2 == 1 && sensor3 == 0){
-                motor.Drive(0, CW, 0); //右タイヤ
-                motor.Drive(1, CW, 2000);//左タイヤ
-                lift.Drive(0, STOP, 0);
-                }
-        //patern2
-            else if(sensor1 == 1 && sensor2 == 0 && sensor3 == 1){
-                motor.Drive(0, CW, 1000);
-                motor.Drive(1, CW, 1000);
-                lift.Drive(0, STOP, 0);
-                }
-        //patern3
-            else if(sensor1 == 0 && sensor2 == 1 && sensor3 == 1){
-                motor.Drive(0, CW, 2000);
-                motor.Drive(1, CW, 0);
-                lift.Drive(0, STOP, 0);
-                }
-        //patern4
-            else if(sensor1 == 0 && sensor2 == 0 && sensor3 == 1){
-                motor.Drive(0, CW, 0);
-                motor.Drive(1, CW, 1500);
-                lift.Drive(0, STOP, 0);
-                }
-        //patern5
-        else if(sensor1 == 1 && sensor2 == 0 && sensor3 == 0){
-            motor.Drive(0, CW, 1500);
-            motor.Drive(1, CW, 0);
-            lift.Drive(0, STOP, 0);
-            }
-        //patern6
-            else if(sensor1 == 0 && sensor2 == 0 && sensor3 == 0){
-                motor.Drive(0, CW, 1000);
-                motor.Drive(1, CW, 1000);
-                lift.Drive(0, STOP, 0);
-                }
-        
-        //patern7
-            else if(sensor1 == 0 && sensor2 == 1 && sensor3 == 0){
-                motor.Drive(0, CW, 1000);
-                motor.Drive(1, CW, 1000);
-                lift.Drive(0, STOP, 0);
-                }
-        
-        //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){
-                    motor.Drive(0, CW, 2048);
-                    motor.Drive(1, STOP, 0);
-                    lift.Drive(0, STOP, 0);
-                    }*/
-        //ラインの左側に出た場合 時計回り
-            else if(sensor1 == 1 && sensor2 == 1 && sensor3 == 1 ){
-                    motor.Drive(0, STOP, 0);
-                    motor.Drive(1, CW, 1500);
-                    lift.Drive(0, STOP, 0);
-                    }
-            
-        //リフト判定
-        else if(sensor4 == 0 && sensor5 == 0 ){
-                    if(height == 0){
-                    //ストップ
-                    motor.Drive(0, STOP, 0);
-                    motor.Drive(1, STOP, 0);
-            
-                    lift.Drive(0, CW, 4000); //リフトアップ
-                    wait(1);
-                    lift.Drive(0, STOP, 0);
-                    wait(0.2);
-                     //再スタート
-                    motor.Drive(0, CW, 1000);
-                    motor.Drive(1, CW, 1000);
-                    wait(0.2);
-                    height = 1;//lift位置
-                    }
-                    else if(height == 1){
-                    motor.Drive(0, STOP, 0);
-                    motor.Drive(1, STOP, 0);
-            
-                    lift.Drive(0, CCW, 2000);//リフトダウン
-                    wait(1);
-                    lift.Drive(0, STOP, 0);
-                    motor.Drive(0, CCW, 4000);
-                    motor.Drive(1, CCW, 4000);
-                    wait(3);
-                    }
-                }
-            else{
-                motor.Drive(0, CW, 500);
-                motor.Drive(1, CW, 500);
-                lift.Drive(0, STOP, 0);
-                }
-            }
-    }            
-}
-