涼太郎 中村 / Mbed 2 deprecated 4thcomp

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Dependencies:   Locate Move Servo button mbed

Fork of 3rdcompfixstart by 涼太郎 中村

main.cpp@15:a2cdcb373d3d, 2016-09-09 (annotated)

Committer:
choutin
Date:
Fri Sep 09 05:41:41 2016 +0000
Revision:
15:a2cdcb373d3d
Parent:
14:0629ab54765c
Child:
16:a9885a66048f
a

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sakanakuuun 0:f12d257b587e 1 #include "mbed.h"
choutin 3:56b034c41dc5 2 #include "math.h"
sakanakuuun 4:1604d599d40f 3 #include "locate.h"
sakanakuuun 4:1604d599d40f 4 #include "move.h"
choutin 12:456d651ef4f0 5 #include "servo.h"
choutin 12:456d651ef4f0 6 #include "button.h"
choutin 3:56b034c41dc5 7
choutin 15:a2cdcb373d3d 8 const int dist=30;
choutin 15:a2cdcb373d3d 9 const int slidedist=150;
choutin 15:a2cdcb373d3d 10 const int space=100;
choutin 12:456d651ef4f0 11
sakanakuuun 4:1604d599d40f 12 int main()
sakanakuuun 4:1604d599d40f 13 {
choutin 14:0629ab54765c 14 int team=1;
sakanakuuun 4:1604d599d40f 15 setup();
sakanakuuun 4:1604d599d40f 16 initmotor();
sakanakuuun 8:21f40f92215f 17
choutin 14:0629ab54765c 18 int targetx[9] = { 600,600,600,1200,900,1200,900,1200,900 };
choutin 15:a2cdcb373d3d 19 int targety[9] = { team*(300+slidedist),team*(600+slidedist),team*(900+slidedist),team*(1200+slidedist),team*(900+slidedist),team*(600+slidedist),team*(600+slidedist),team*(0+slidedist),team*(300+slidedist) };
choutin 15:a2cdcb373d3d 20 int goalx=0,goaly1=1200+150,goaly2=900+slidedist,goaly3=600+slidedist,goaly4=300+slidedist;
choutin 14:0629ab54765c 21
choutin 14:0629ab54765c 22 //オブジェクト0,1,2回収
choutin 14:0629ab54765c 23 pmove(targetx[0],0);
choutin 14:0629ab54765c 24 pmove(targetx[0],targety[0]);
choutin 14:0629ab54765c 25 //回収
choutin 14:0629ab54765c 26 pmove(targetx[1],targety[1]);
choutin 14:0629ab54765c 27 //回収
choutin 14:0629ab54765c 28 pmove(targetx[2],targety[2]);
choutin 14:0629ab54765c 29 //回収
choutin 14:0629ab54765c 30
choutin 15:a2cdcb373d3d 31 pmove(600,1200+slidedist);//次につなげるハブ
choutin 14:0629ab54765c 32
choutin 14:0629ab54765c 33 pmove(goalx,goaly1);
choutin 14:0629ab54765c 34 //リリース
choutin 14:0629ab54765c 35 back300();//(300,1200)なう
choutin 14:0629ab54765c 36 /****************/
choutin 14:0629ab54765c 37
choutin 14:0629ab54765c 38 //オブジェクト3,4回収
choutin 15:a2cdcb373d3d 39 pmove(targetx[3]+space,targety[3]);
choutin 14:0629ab54765c 40 //回収
choutin 15:a2cdcb373d3d 41 pmove(1200+space,900+slidedist);//ハブ
choutin 14:0629ab54765c 42 pmove(targetx[4],targety[4]);
choutin 14:0629ab54765c 43 //回収?
choutin 14:0629ab54765c 44 pmove(goalx,goaly2);
choutin 14:0629ab54765c 45 //リリース
choutin 14:0629ab54765c 46 back300();
choutin 14:0629ab54765c 47 /***************/
choutin 14:0629ab54765c 48
choutin 15:a2cdcb373d3d 49 //オブジェクト5,7回収
choutin 15:a2cdcb373d3d 50 pmove(1200,900+slidedist);//ハブ
choutin 14:0629ab54765c 51 pmove(targetx[5],targety[5]);
choutin 14:0629ab54765c 52 //回収
choutin 15:a2cdcb373d3d 53 pmove(targetx[7],targety[7]);
choutin 14:0629ab54765c 54 //回収?
choutin 15:a2cdcb373d3d 55 pmove(600,0+slidedist);
choutin 14:0629ab54765c 56 //リリース
choutin 15:a2cdcb373d3d 57 pmove(600,1200+slidedist);//ハブ
choutin 15:a2cdcb373d3d 58
choutin 15:a2cdcb373d3d 59 pmove(goalx,goaly1);
choutin 14:0629ab54765c 60 back300();
choutin 14:0629ab54765c 61 /**********************/
choutin 14:0629ab54765c 62
choutin 15:a2cdcb373d3d 63 //オブジェクト6,8回収
choutin 15:a2cdcb373d3d 64 pmove(300,0+slidedist);//ハブ
choutin 15:a2cdcb373d3d 65 pmove(900,0+slidedist);//ハブ
choutin 15:a2cdcb373d3d 66 pmove(targetx[8],targety[8]);
choutin 14:0629ab54765c 67 //回収
choutin 15:a2cdcb373d3d 68 pmove(targetx[6],targety[6]);
choutin 15:a2cdcb373d3d 69 //回収
choutin 15:a2cdcb373d3d 70 pmove(900,1200+slidedist);
choutin 14:0629ab54765c 71 //回収?
choutin 15:a2cdcb373d3d 72 pmove(goalx,goaly1);
choutin 14:0629ab54765c 73 //リリース
choutin 14:0629ab54765c 74 back300();
choutin 14:0629ab54765c 75 /**********************/
choutin 14:0629ab54765c 76
choutin 14:0629ab54765c 77
choutin 14:0629ab54765c 78
choutin 3:56b034c41dc5 79 }