keisuke Yoshida
/
BLE_WallbotBLE_Challenge_byYUTAKA
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Fork of
BLE_WallbotBLE_Challenge
by 
Yutaka Yoshida
Revision 4:951fabc31ba6, committed 2018-06-11
- Comitter:
- Keisuke_Yoshida
- Date:
- Mon Jun 11 06:51:49 2018 +0000
- Parent:
- 3:f707552ec50a
- Commit message:
- firstcmit
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/main.cpp Sun Jun 03 07:04:34 2018 +0000
+++ b/main.cpp Mon Jun 11 06:51:49 2018 +0000
@@ -282,6 +282,7 @@
return(ret);
}
+//ライントレース関数
void line(void)
{
ModeLed = 0;
@@ -303,6 +304,7 @@
#if DBG
pc.printf("line=%02x %04x %04x %04x %04x\n\r",line,base_fsen[0],base_fsen[1],base_fsen[2],base_fsen[3]);
#endif
+
#if 1
switch(line)
{
@@ -340,6 +342,84 @@
break;
}
#endif
+
+ }
+ ModeLed = 1;
+ left = 0.0;
+ right = 0.0;
+ wait(1);
+}
+
+//動作パターン関数（工事中）
+void wb_control(void)
+{
+ ModeLed = 0;
+ wait(1);
+ while(sw1 != 0)
+ {
+#if 0
+ int line = get_line(0) ? 0 : 1;
+ line |= get_line(1) ? 0 : 2;
+ line |= get_line(2) ? 0 : 4;
+ line |= get_line(3) ? 0 : 8;
+#else
+ int line = get_line(0) ? 1 : 0;
+ line |= get_line(1) ? 2 : 0;
+ line |= get_line(2) ? 4 : 0;
+ line |= get_line(3) ? 8 : 0;
+#endif
+
+#if DBG
+ pc.printf("line=%02x %04x %04x %04x %04x\n\r",line,base_fsen[0],base_fsen[1],base_fsen[2],base_fsen[3]);
+#endif
+
+//改造中のソース
+
+#if 1
+ switch(line)
+ {
+ case 1: //直進モード上から下へ ○○○● とりあえず書いてみたパターン
+ if(ay<0){
+ left = 1.0;
+ right = 1.0;
+ }
+ else if(ay>0){
+ left = 1.0;
+ right = 1.0;
+ }
+
+ break;
+ case 3: //直進モード下から上へ ○○●●
+ left = 1.0;
+ right = -0.5;
+ break;
+ case 2: //回転モード上から下へ○○●○
+ left = 1.0;
+ right = 0.5;
+ break;
+ case 6: //回転モード下から上へ○●●○
+ left = 1.0;
+ right = 1.0;
+ break;
+ case 4: //後進モード上から下へ○●○○
+ left = 0.5;
+ right = 1.0;
+ break;
+ case 12: //後進モード下から上へ●●○○
+ left = -0.5;
+ right = 1.0;
+ break;
+ case 8: // ●○○○
+ left = -1.0;
+ right = 1.0;
+ break;
+ default:
+ left = 1.0;
+ right = 1.0;
+ break;
+ }
+#endif
+
}
ModeLed = 1;
left = 0.0;
@@ -437,7 +517,8 @@
{
bValue = 1;
line_mode = 1;
- line();
+ //line();
+ wb_control(); //動作モード関数
line_mode = 0;
bValue = 0;
}