naoto tanaka
test
Dependencies: PID USBDevice mbed
Revision 0:3115bcc751cb, committed 2014-09-12
- Comitter:
- NT32
- Date:
- Fri Sep 12 05:11:31 2014 +0000
- Commit message:
- board_test
Changed in this revision
diff -r 000000000000 -r 3115bcc751cb PID.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/PID.lib Fri Sep 12 05:11:31 2014 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/aberk/code/PID/#6e12a3e5af19
diff -r 000000000000 -r 3115bcc751cb USBDevice.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/USBDevice.lib Fri Sep 12 05:11:31 2014 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/USBDevice/#0c6524151939
diff -r 000000000000 -r 3115bcc751cb main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Fri Sep 12 05:11:31 2014 +0000
@@ -0,0 +1,158 @@
+#include "mbed.h"
+#include "USBSerial.h"
+#include "PID.h"
+
+#define WHITE 0.6
+
+Ticker tick;
+
+DigitalOut airdiode(P1_27);
+AnalogIn aphotoref(P0_22);
+DigitalOut birdiode(P1_20);
+AnalogIn bphotoref(P0_11);
+DigitalOut cirdiode(P1_26);
+AnalogIn cphotoref(P0_12);
+DigitalOut dirdiode(P1_21);
+AnalogIn dphotoref(P0_13);
+DigitalOut eirdiode(P0_22);
+AnalogIn ephotoref(P0_14);
+
+DigitalOut myled(P1_28);
+DigitalIn sw(P0_1);
+
+USBSerial vcom;
+
+void systeminit(void);
+
+float asens, bsens, csens, dsens, esens;
+
+
+void flip(){
+ static uint8_t cycle;
+ static float asenson, asensoff, bsenson, bsensoff, csenson, csensoff, dsenson, dsensoff, esenson, esensoff;
+ switch(cycle){
+ case 0:
+ asensoff = aphotoref.read();
+ bsensoff = bphotoref.read();
+ csensoff = cphotoref.read();
+ dsensoff = dphotoref.read();
+ esensoff = ephotoref.read();
+// airdiode = 1;
+ cycle++;
+ break;
+ case 1:
+ asenson = aphotoref.read();
+// airdiode = 0;
+// birdiode = 1;
+ cycle++;
+ break;
+ case 2:
+ bsenson = bphotoref.read();
+// birdiode = 0;
+// cirdiode = 1;
+ cycle++;
+ break;
+ case 3:
+ csenson = cphotoref.read();
+// cirdiode = 0;
+// dirdiode = 1;
+ cycle++;
+ break;
+ case 4:
+ dsenson = dphotoref.read();
+// dirdiode = 0;
+// eirdiode = 1;
+ cycle++;
+ break;
+ case 5:
+ esenson = ephotoref.read();
+// eirdiode = 0;
+ cycle++;
+ break;
+ case 6:
+/* asens = (asenson - asensoff) * 1.4;
+ bsens = (bsenson - bsensoff) * 0.95;
+ csens = csenson - csensoff;
+ dsens = dsenson - dsensoff;
+ esens = esenson - esensoff;
+*/
+ asens = (asenson) * 1.4;
+ bsens = (bsenson) * 0.95;
+ csens = csenson;
+ dsens = dsenson;
+ esens = esenson;
+ cycle = 0;
+ break;
+ default:
+ cycle = 0;
+ break;
+ }
+ myled = !myled;
+}
+
+int main(){
+ float position = 0, gposition = 0; //細かい分け方と全体の位置
+ uint8_t lineblock = 0; //大雑把な分け方
+ systeminit();
+ while(1){
+ vcom.printf("\033[%d;%dH" ,0,0);
+ vcom.printf("%7.6f\n", asens);
+ vcom.printf("%7.6f\n", bsens);
+ vcom.printf("%7.6f\n", csens);
+ vcom.printf("%7.6f\n", dsens);
+ vcom.printf("position = %7.6f\n", position);
+ vcom.printf("lineblock = %d\n", lineblock);
+ vcom.printf("gposition = %8.6f\n", gposition);
+
+ if((asens < WHITE) && (bsens > WHITE)){
+ /*一番 左*/
+ position = asens - bsens;
+ lineblock = 0;
+ }else if((asens < WHITE) && (bsens < WHITE)){
+ /*結構 左*/
+ position = asens - bsens;
+ lineblock = 1;
+ }else if((bsens < WHITE) && (csens > WHITE)){
+ /*ちょっと左*/
+ position = bsens - csens;
+ lineblock = 2;
+ }else if((bsens < WHITE) && (csens < WHITE)){
+ /*真ん中*/
+ position = bsens - csens;
+ lineblock = 3;
+ }else if((csens < WHITE) && (dsens > WHITE)){
+ /*ちょっと右*/
+ position = bsens - csens;
+ lineblock = 4;
+ }else if((csens < WHITE) && (dsens < WHITE)){
+ /*結構右*/
+ position = csens - dsens;
+ lineblock = 5;
+ }else if((csens > WHITE) && (dsens < WHITE)){
+ /*一番 右*/
+ position = csens - dsens;
+ lineblock = 6;
+ }
+ gposition = (position + 0.6) * 14; //値1につき12mm
+ if(lineblock < 2){
+ /*左 16.8mm*/
+ }else if(lineblock < 5){
+ /*真ん中 16.8mm*/
+ gposition += 16.8;
+ }else if(lineblock < 7){
+ /*右 16.8mm*/
+ gposition += 33.6;
+ }
+ wait(0.012);
+ }
+}
+
+void systeminit(void){
+ sw.mode(PullUp);
+ tick.attach(&flip, 0.005);
+ airdiode = 1;
+ birdiode = 1;
+ cirdiode = 1;
+ dirdiode = 1;
+ wait(0.3);
+}
diff -r 000000000000 -r 3115bcc751cb mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Fri Sep 12 05:11:31 2014 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/04dd9b1680ae \ No newline at end of file