Diff: sensorGen.cpp

Revision:

4:f651e59a9805

Parent:

3:91064a3feb31

Child:

5:8ed76df0196b

--- a/sensorGen.cpp	Sat Dec 12 05:07:48 2020 +0000
+++ b/sensorGen.cpp	Thu Mar 04 11:58:41 2021 +0000
@@ -1,26 +1,24 @@
 #include "sensorGen.h"
 
-sensor::sensor() 
+sensorgen::sensorgen()
 :   camera(pixymosi, pixymiso, pixysclk),
-    jy(jysda, jyscl),
-    limit(limitPin)
+    jy(jysda, jyscl)
 {
-    _line[0] = new Line(line1,1500);
-    _line[1] = new Line(line2,1500);
-    _line[2] = new Line(line3,1500);
-    _line[3] = new Line(line4,1500);
-    _line[4] = new Line(line5,1500);
-    _line[5] = new Line(line6,1500);
+    _line[0] = new Line(line1,1000);
+    _line[1] = new Line(line2,1000);
+    _line[2] = new Line(line3,1000);
+    _line[3] = new Line(line4,1000);
+    _line[4] = new Line(line5,1000);
+    _line[5] = new Line(line6,1000);
     angleCount = 0;
     ballcount = 0;
     bluecount = 0;
     yellowcount = 0;
     jy.calibrateAll(50);
-    limit.mode(PullUp);
-    thread.start(callback(this,&sensor::sensorloop));
+//    thread.start(callback(this,&sensorgen::sensorloop));
 }
 
-void sensor::sensorloop()
+void sensorgen::sensorloop()
 {
     while(1)
     {
@@ -36,6 +34,7 @@
         ballSig = camera.ballSignal();
         blueSig = camera.blueSignal();
         yellowSig = camera.yellowSignal();
+        /*見失ったらカウントが減っていくよ*/
 //        if(camera.ballSignal()) ballcount=100;
 //        else ballcount--;
 //        if(camera.blueSignal()) bluecount=100;
@@ -111,13 +110,13 @@
         yellowRange = hypot(yellowx,yellowy);
         
         for(int i=0; i < 6; i++) line[i] = _line[i]->judg();
-        ballKeep = !limit;
+        ballKeep = 0;
         if (ballKeep && (ballkeepcount < 200)) {
             ballkeepcount++;
         } else if(ballkeepcount > 0) {
             ballkeepcount--;
         }
-        ThisThread::sleep_for(1000.0/300.0);
+        ThisThread::sleep_for(1000/300);
     }
 
 }
\ No newline at end of file