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Dependencies:   Locate Move Servo button mbed

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main.cpp

00001 #include "mbed.h"
00002 #include "math.h"
00003 #include "locate.h"
00004 #include "move.h"
00005 #include "servo.h"
00006 #include "button.h"
00007 
00008 
00009 int main()
00010 {
00011     int team=1;
00012     setup();
00013     initmotor();
00014     
00015    int targetx[9] = { 600,600,600,1200,900,1200,900,1200,900 };
00016    int targety[9] = { team*300,team*600,team*900,team*1200,team*900,team*600,team*600,0,team*300 };
00017    int goalx=0,goaly1=team*1200,goaly2=team*900,goaly3=team*600,goaly4=team*300;
00018     
00019 //オブジェクト0,1,2回収
00020        pmove(targetx[0],0);
00021        pmove(targetx[0],targety[0]);
00022        //回収
00023        pmove(targetx[1],targety[1]-20);
00024        //回収
00025        pmove(targetx[2],targety[2]-20);
00026        //回収
00027        
00028        pmove(600,1200);//次につなげるハブ
00029        
00030        pmove(goalx,goaly1);
00031        //リリース
00032        back300();//(300,1200)なう
00033        /****************/
00034        
00035        //オブジェクト3,4回収
00036        pmove(targetx[3],targety[3]);
00037        //回収
00038        pmove(1200,900);//ハブ
00039        pmove(targetx[4],targety[4]);
00040        //回収?
00041        pmove(goalx,goaly2);
00042        //リリース
00043        back300();
00044        /***************/
00045        
00046        //オブジェクト5,6回収
00047        pmove(1200,900);//ハブ
00048        pmove(targetx[5],targety[5]);
00049        //回収
00050        pmove(targetx[6],targety[6]);
00051        //回収?
00052        pmove(goalx,goaly3);
00053        //リリース
00054        back300();
00055        /**********************/
00056        
00057        //オブジェクト7,8回収
00058        pmove(300,0);//ハブ
00059        pmove(targetx[7],targety[7]);
00060        //回収
00061        pmove(1200,300);//ハブ
00062        //ここでエラー
00063         pmove(targetx[8],targety[8]);
00064        //回収?
00065        pmove(goalx,goaly4);
00066        //リリース
00067        back300();
00068        /**********************/
00069        
00070 
00071 
00072 }