涼太郎 中村 / Mbed 2 deprecated f3rc2

めいん

Dependencies:   mbed

main.cpp@4:dcb03da10fa7, 2016-09-01 (annotated)

Committer:
choutin
Date:
Thu Sep 01 06:23:53 2016 +0000
Revision:
4:dcb03da10fa7
Parent:
2:b204cf2f9b60
Child:
5:1c95260515c1
a

Who changed what in which revision?

UserRevisionLine numberNew contents of line
choutin 0:df2659fd8031 1 //受渡前での妨害に対応したい
choutin 0:df2659fd8031 2 #include"header.h"
choutin 2:b204cf2f9b60 3 Serial pc(SERIAL_TX, SERIAL_RX);
choutin 0:df2659fd8031 4
choutin 2:b204cf2f9b60 5 void movelength(int length){
choutin 2:b204cf2f9b60 6 int px,py,pt;
choutin 2:b204cf2f9b60 7 update(-right.getPulses(), left.getPulses());
choutin 2:b204cf2f9b60 8 px=coordinateX();
choutin 2:b204cf2f9b60 9 py=coordinateY();
choutin 2:b204cf2f9b60 10 pt=coordinateTheta();
choutin 0:df2659fd8031 11
choutin 2:b204cf2f9b60 12 move(30,30);
choutin 4:dcb03da10fa7 13 while(1){
choutin 2:b204cf2f9b60 14 update(-right.getPulses(), left.getPulses());
choutin 2:b204cf2f9b60 15 if((px-coordinateX())*(px-coordinateX())+(py-coordinateY())*(py-coordinateY())>length*length){break;}
choutin 0:df2659fd8031 16
choutin 2:b204cf2f9b60 17 }
choutin 2:b204cf2f9b60 18 }
choutin 0:df2659fd8031 19
choutin 0:df2659fd8031 20
choutin 2:b204cf2f9b60 21 void turncw(int degree) {
choutin 2:b204cf2f9b60 22 initencorder();
choutin 2:b204cf2f9b60 23 initmotor();
choutin 2:b204cf2f9b60 24
choutin 2:b204cf2f9b60 25 int rad=0,np=1;
choutin 2:b204cf2f9b60 26 if(degree<0){np=-1;}
choutin 2:b204cf2f9b60 27 rad=degree*PI/180;
choutin 2:b204cf2f9b60 28 move(30*np,-30*np);
choutin 2:b204cf2f9b60 29 float t,theta;
choutin 2:b204cf2f9b60 30 int x,y;
choutin 2:b204cf2f9b60 31 update(-right.getPulses(), left.getPulses());
choutin 2:b204cf2f9b60 32 t=coordinateTheta();
choutin 2:b204cf2f9b60 33 while(1){
choutin 2:b204cf2f9b60 34
choutin 2:b204cf2f9b60 35 pc.printf("x:%d y:%d t:%f \n\r",x,y,theta*180/PI);
choutin 2:b204cf2f9b60 36 x=coordinateX();
choutin 2:b204cf2f9b60 37 y=coordinateY();
choutin 2:b204cf2f9b60 38 theta=coordinateTheta();
choutin 2:b204cf2f9b60 39 update(-right.getPulses(), left.getPulses());
choutin 2:b204cf2f9b60 40 if(theta-t > np*rad){break;}
choutin 2:b204cf2f9b60 41 if(theta-t < (-1)*np*rad){break;}
choutin 2:b204cf2f9b60 42 // moveto (30,30);
choutin 2:b204cf2f9b60 43 /*
choutin 2:b204cf2f9b60 44 move(30,30);
choutin 2:b204cf2f9b60 45 update(-right.getPulses(), left.getPulses());
choutin 2:b204cf2f9b60 46 pc.printf("x:%d y:%d t:%f \n\r",coordinateX(), coordinateY(), coordinateTheta());
choutin 2:b204cf2f9b60 47 if(coordinateX()>300){
choutin 2:b204cf2f9b60 48 while(1){*/
choutin 2:b204cf2f9b60 49
choutin 2:b204cf2f9b60 50 }
choutin 2:b204cf2f9b60 51 move(0,0);
choutin 2:b204cf2f9b60 52 }
choutin 2:b204cf2f9b60 53
choutin 2:b204cf2f9b60 54
choutin 2:b204cf2f9b60 55 int main(){
choutin 0:df2659fd8031 56
choutin 2:b204cf2f9b60 57 movelength(600);
choutin 2:b204cf2f9b60 58 turncw(90);
choutin 2:b204cf2f9b60 59 movelength(1200);
choutin 2:b204cf2f9b60 60 turncw(90);
choutin 0:df2659fd8031 61
choutin 0:df2659fd8031 62 }