File content as of revision 0:e9af471e2a2b:

#include "linetracer.h"
#define K 0.000001 //ハンドルのききの良さを決める定数
DigitalOut test1(PTB8);
DigitalOut test2(PTB9);
DigitalOut test3(PTB10);
DigitalOut test4(PTB11);

void linetracerInit(){
    servoInit();
    sensorInit();
    motorInit();
    start();
}

void linetracerLoop(){
    float pulse;
    pulse = 0.00155;
    int reaction = 0;
    int flag = 0;
    while(1){
        reaction = getReaction();
        /*
        if((reaction & 0b000011) == 0b000000){
                flag++;
                if(flag >= 100){
                    wait(0.3);
                    stop();
                    while(1){
                        test1 = 1;
                    }
                }
        }
        else{
            flag = 0;
            test1 = 0;
        }
        */
        
        
        if((reaction & 0b100000) == 0b100000){
            rotate(handle,pulse - K,&pulse);
            test1 = 1;
        }
        
        
        if((reaction & 0b000100) == 0b000100){
            rotate(handle,pulse + K,&pulse);
            test2 = 1;
        }
        
        if((reaction & 0b010000) == 0b010000){
            rotate(handle,pulse - K / 3.0,&pulse);
            test3 = 1;
        }
        
        if((reaction & 0b001000) == 0b001000){
            rotate(handle,pulse + K / 3.0,&pulse);
            test4 = 1;
        }
        
        test1 = 0;
        test2 = 0;
        test3 = 0;
        test4 = 0;
        
        /*
        if((reaction & 0b010100) == 0b000000){
            rotate(handle,pulse + K * 0.5,&pulse);
        }
        
        if((reaction & 0b1010000) == 0b000000){
            rotate(handle,pulse - K * 0.5,&pulse);
        }
        */
    }
}