Naoya Muramatsu
/
4E_Rotot_Red_2014
6輪ロボットの制御プログラム。 6つのオムニホイール、2つの緑レーザー、4つの受光センサを持っている。 xbeeを使って、コントローラと通信を行う。
main.cpp@0:5e6d5dfcb386, 2016-05-04 (annotated)
- Committer:
- denden
- Date:
- Wed May 04 12:48:26 2016 +0000
- Revision:
- 0:5e6d5dfcb386
publish
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
denden | 0:5e6d5dfcb386 | 1 | // Robot |
denden | 0:5e6d5dfcb386 | 2 | // Red |
denden | 0:5e6d5dfcb386 | 3 | |
denden | 0:5e6d5dfcb386 | 4 | #include "mbed.h" |
denden | 0:5e6d5dfcb386 | 5 | |
denden | 0:5e6d5dfcb386 | 6 | /* |
denden | 0:5e6d5dfcb386 | 7 | --- XBeeアドレス --- |
denden | 0:5e6d5dfcb386 | 8 | 平面アンテナ |
denden | 0:5e6d5dfcb386 | 9 | Red |
denden | 0:5e6d5dfcb386 | 10 | Zigbee Router API : 0013A200 407ABE67 |
denden | 0:5e6d5dfcb386 | 11 | Zigbee Router API : 0013A200 407ABCBB |
denden | 0:5e6d5dfcb386 | 12 | Blue |
denden | 0:5e6d5dfcb386 | 13 | Zigbee Coordinator API : 0013A200 407C04BD |
denden | 0:5e6d5dfcb386 | 14 | Zigbee Router API : 0013A200 407C04F9 |
denden | 0:5e6d5dfcb386 | 15 | */ |
denden | 0:5e6d5dfcb386 | 16 | |
denden | 0:5e6d5dfcb386 | 17 | Serial xbee(p28, p27); |
denden | 0:5e6d5dfcb386 | 18 | Serial pc(USBTX, USBRX); |
denden | 0:5e6d5dfcb386 | 19 | |
denden | 0:5e6d5dfcb386 | 20 | InterruptIn raserSensor1(p9); |
denden | 0:5e6d5dfcb386 | 21 | InterruptIn raserSensor2(p10); |
denden | 0:5e6d5dfcb386 | 22 | InterruptIn raserSensor3(p29); |
denden | 0:5e6d5dfcb386 | 23 | |
denden | 0:5e6d5dfcb386 | 24 | DigitalOut FR1(p11); |
denden | 0:5e6d5dfcb386 | 25 | DigitalOut FR2(p12); |
denden | 0:5e6d5dfcb386 | 26 | DigitalOut FL1(p13); |
denden | 0:5e6d5dfcb386 | 27 | DigitalOut FL2(p14); |
denden | 0:5e6d5dfcb386 | 28 | DigitalOut BR1(p15); |
denden | 0:5e6d5dfcb386 | 29 | DigitalOut BR2(p16); |
denden | 0:5e6d5dfcb386 | 30 | DigitalOut BL1(p17); |
denden | 0:5e6d5dfcb386 | 31 | DigitalOut BL2(p18); |
denden | 0:5e6d5dfcb386 | 32 | DigitalOut CR1(p5); |
denden | 0:5e6d5dfcb386 | 33 | DigitalOut CR2(p6); |
denden | 0:5e6d5dfcb386 | 34 | DigitalOut CL1(p7); |
denden | 0:5e6d5dfcb386 | 35 | DigitalOut CL2(p8); |
denden | 0:5e6d5dfcb386 | 36 | |
denden | 0:5e6d5dfcb386 | 37 | PwmOut FR(p25); |
denden | 0:5e6d5dfcb386 | 38 | PwmOut FL(p22); |
denden | 0:5e6d5dfcb386 | 39 | PwmOut BR(p24); |
denden | 0:5e6d5dfcb386 | 40 | PwmOut BL(p23); |
denden | 0:5e6d5dfcb386 | 41 | PwmOut CR(p26); |
denden | 0:5e6d5dfcb386 | 42 | PwmOut CL(p21); |
denden | 0:5e6d5dfcb386 | 43 | |
denden | 0:5e6d5dfcb386 | 44 | DigitalOut Raser1(p20); |
denden | 0:5e6d5dfcb386 | 45 | DigitalOut Raser2(p30); |
denden | 0:5e6d5dfcb386 | 46 | |
denden | 0:5e6d5dfcb386 | 47 | DigitalOut led1(LED1); |
denden | 0:5e6d5dfcb386 | 48 | DigitalOut led2(LED2); |
denden | 0:5e6d5dfcb386 | 49 | DigitalOut led3(LED3); |
denden | 0:5e6d5dfcb386 | 50 | DigitalOut led4(LED4); |
denden | 0:5e6d5dfcb386 | 51 | |
denden | 0:5e6d5dfcb386 | 52 | |
denden | 0:5e6d5dfcb386 | 53 | /*--- グローバル変数宣言---*/ |
denden | 0:5e6d5dfcb386 | 54 | uint8_t MyRemoteAddress[] = {0x00,0x13,0xa2,0x00,0x40,0x7a,0xbe,0x67}; // 敵コントローラのアドレス |
denden | 0:5e6d5dfcb386 | 55 | // uint8_t EnRemoteAddress[] = {0x00,0x13,0xa2,0x00,0x40,0x7c,0x04,0xf9}; // 敵コントローラのアドレス |
denden | 0:5e6d5dfcb386 | 56 | |
denden | 0:5e6d5dfcb386 | 57 | |
denden | 0:5e6d5dfcb386 | 58 | |
denden | 0:5e6d5dfcb386 | 59 | |
denden | 0:5e6d5dfcb386 | 60 | /*--- モーター制御用関数 ---*/ |
denden | 0:5e6d5dfcb386 | 61 | void FRmove (float vec) {FR = abs(vec); FR1 = (unsigned char)(abs)(vec+0.9); FR2 = (unsigned char)(abs)(vec-0.9);} |
denden | 0:5e6d5dfcb386 | 62 | void FLmove (float vec) {FL = abs(vec); FL1 = (unsigned char)(abs)(vec+0.9); FL2 = (unsigned char)(abs)(vec-0.9);} |
denden | 0:5e6d5dfcb386 | 63 | void CRmove (float vec) {CR = abs(vec); CR1 = (unsigned char)(abs)(vec+0.9); CR2 = (unsigned char)(abs)(vec-0.9);} |
denden | 0:5e6d5dfcb386 | 64 | void CLmove (float vec) {CL = abs(vec); CL1 = (unsigned char)(abs)(vec-0.9); CL2 = (unsigned char)(abs)(vec+0.9);} |
denden | 0:5e6d5dfcb386 | 65 | void BRmove (float vec) {BR = abs(vec); BR1 = (unsigned char)(abs)(vec+0.9); BR2 = (unsigned char)(abs)(vec-0.9);} |
denden | 0:5e6d5dfcb386 | 66 | void BLmove (float vec) {BL = abs(vec); BL1 = (unsigned char)(abs)(vec+0.9); BL2 = (unsigned char)(abs)(vec-0.9);} |
denden | 0:5e6d5dfcb386 | 67 | |
denden | 0:5e6d5dfcb386 | 68 | |
denden | 0:5e6d5dfcb386 | 69 | /*--- 進行方向制御用変数 ---*/ |
denden | 0:5e6d5dfcb386 | 70 | void FFmove() { |
denden | 0:5e6d5dfcb386 | 71 | FLmove(+1.00); FRmove(+1.00); |
denden | 0:5e6d5dfcb386 | 72 | CLmove(+0.61); CRmove(+0.71); |
denden | 0:5e6d5dfcb386 | 73 | BLmove(-1.00); BRmove(-1.00); |
denden | 0:5e6d5dfcb386 | 74 | } |
denden | 0:5e6d5dfcb386 | 75 | void FRmove() { |
denden | 0:5e6d5dfcb386 | 76 | FLmove(-0.60); FRmove(+0.60); |
denden | 0:5e6d5dfcb386 | 77 | CLmove(+1.00); CRmove(+1.00); |
denden | 0:5e6d5dfcb386 | 78 | BLmove(-1.00); BRmove(+1.00); |
denden | 0:5e6d5dfcb386 | 79 | } |
denden | 0:5e6d5dfcb386 | 80 | void FLmove() { |
denden | 0:5e6d5dfcb386 | 81 | FLmove(+0.60); FRmove(-0.60); |
denden | 0:5e6d5dfcb386 | 82 | CLmove(+1.00); CRmove(+1.00); |
denden | 0:5e6d5dfcb386 | 83 | BLmove(+1.00); BRmove(-1.00); |
denden | 0:5e6d5dfcb386 | 84 | } |
denden | 0:5e6d5dfcb386 | 85 | void Lmove() { |
denden | 0:5e6d5dfcb386 | 86 | FLmove(+0.70); FRmove(-0.70); |
denden | 0:5e6d5dfcb386 | 87 | CLmove(+0.00); CRmove(+0.00); |
denden | 0:5e6d5dfcb386 | 88 | BLmove(+1.00); BRmove(-1.00); |
denden | 0:5e6d5dfcb386 | 89 | } |
denden | 0:5e6d5dfcb386 | 90 | void Rmove() { |
denden | 0:5e6d5dfcb386 | 91 | FLmove(-0.60); FRmove(+0.60); |
denden | 0:5e6d5dfcb386 | 92 | CLmove(+0.00); CRmove(+0.00); |
denden | 0:5e6d5dfcb386 | 93 | BLmove(-1.00); BRmove(+1.00); |
denden | 0:5e6d5dfcb386 | 94 | } |
denden | 0:5e6d5dfcb386 | 95 | void BBmove() { |
denden | 0:5e6d5dfcb386 | 96 | FLmove(-1.00); FRmove(-1.00); |
denden | 0:5e6d5dfcb386 | 97 | CLmove(-0.61); CRmove(-0.71); |
denden | 0:5e6d5dfcb386 | 98 | BLmove(+1.00); BRmove(+1.00); |
denden | 0:5e6d5dfcb386 | 99 | } |
denden | 0:5e6d5dfcb386 | 100 | void BRmove() { |
denden | 0:5e6d5dfcb386 | 101 | FLmove(-0.60); FRmove(+0.60); |
denden | 0:5e6d5dfcb386 | 102 | CLmove(-1.00); CRmove(-1.00); |
denden | 0:5e6d5dfcb386 | 103 | BLmove(-1.00); BRmove(+1.00); |
denden | 0:5e6d5dfcb386 | 104 | } |
denden | 0:5e6d5dfcb386 | 105 | void BLmove() { |
denden | 0:5e6d5dfcb386 | 106 | FLmove(+0.70); FRmove(-0.70); |
denden | 0:5e6d5dfcb386 | 107 | CLmove(-1.00); CRmove(-1.00); |
denden | 0:5e6d5dfcb386 | 108 | BLmove(+1.00); BRmove(-1.00); |
denden | 0:5e6d5dfcb386 | 109 | } |
denden | 0:5e6d5dfcb386 | 110 | |
denden | 0:5e6d5dfcb386 | 111 | void Lturn() { |
denden | 0:5e6d5dfcb386 | 112 | FLmove(+1.00); FRmove(-1.00); |
denden | 0:5e6d5dfcb386 | 113 | CLmove(-1.00); CRmove(+1.00); |
denden | 0:5e6d5dfcb386 | 114 | BLmove(+0.50); BRmove(-0.50); |
denden | 0:5e6d5dfcb386 | 115 | } |
denden | 0:5e6d5dfcb386 | 116 | void Rturn() { |
denden | 0:5e6d5dfcb386 | 117 | FLmove(-1.00); FRmove(+1.00); |
denden | 0:5e6d5dfcb386 | 118 | CLmove(+1.00); CRmove(-1.00); |
denden | 0:5e6d5dfcb386 | 119 | BLmove(-0.50); BRmove(+0.50); |
denden | 0:5e6d5dfcb386 | 120 | } |
denden | 0:5e6d5dfcb386 | 121 | |
denden | 0:5e6d5dfcb386 | 122 | void Stop() { |
denden | 0:5e6d5dfcb386 | 123 | FR1 = 1; FR2 = 1; |
denden | 0:5e6d5dfcb386 | 124 | FL1 = 1; FL2 = 1; |
denden | 0:5e6d5dfcb386 | 125 | CR1 = 1; CR2 = 1; |
denden | 0:5e6d5dfcb386 | 126 | CL1 = 1; CL2 = 1; |
denden | 0:5e6d5dfcb386 | 127 | BR1 = 1; BR2 = 1; |
denden | 0:5e6d5dfcb386 | 128 | BL1 = 1; BL2 = 1; |
denden | 0:5e6d5dfcb386 | 129 | } |
denden | 0:5e6d5dfcb386 | 130 | |
denden | 0:5e6d5dfcb386 | 131 | |
denden | 0:5e6d5dfcb386 | 132 | /*--- データフレーム用クラス ---*/ |
denden | 0:5e6d5dfcb386 | 133 | class xbeeAPI { |
denden | 0:5e6d5dfcb386 | 134 | public: |
denden | 0:5e6d5dfcb386 | 135 | uint8_t address[8]; |
denden | 0:5e6d5dfcb386 | 136 | uint8_t direction; |
denden | 0:5e6d5dfcb386 | 137 | uint8_t turning; |
denden | 0:5e6d5dfcb386 | 138 | void reset() { |
denden | 0:5e6d5dfcb386 | 139 | for (int i=0; i<8; i++) address[i]=0; |
denden | 0:5e6d5dfcb386 | 140 | direction = 0; |
denden | 0:5e6d5dfcb386 | 141 | turning = 0; |
denden | 0:5e6d5dfcb386 | 142 | } |
denden | 0:5e6d5dfcb386 | 143 | }; |
denden | 0:5e6d5dfcb386 | 144 | |
denden | 0:5e6d5dfcb386 | 145 | /*--- 送信用関数 ---*/ |
denden | 0:5e6d5dfcb386 | 146 | void xbeeTx(uint8_t *address, uint8_t data) { |
denden | 0:5e6d5dfcb386 | 147 | int i=0; |
denden | 0:5e6d5dfcb386 | 148 | |
denden | 0:5e6d5dfcb386 | 149 | xbee.putc(0x7E); |
denden | 0:5e6d5dfcb386 | 150 | xbee.putc(0x00); // フレーム長 |
denden | 0:5e6d5dfcb386 | 151 | xbee.putc(0x0F); |
denden | 0:5e6d5dfcb386 | 152 | xbee.putc(0x10); // フレームタイプ |
denden | 0:5e6d5dfcb386 | 153 | xbee.putc(0x01); // フレームID |
denden | 0:5e6d5dfcb386 | 154 | for (int i=0; i<8; i++) |
denden | 0:5e6d5dfcb386 | 155 | xbee.putc(address[i]); // 62bit宛先アドレス |
denden | 0:5e6d5dfcb386 | 156 | xbee.putc(0xFF); // 16bit宛先ネットワークアドレス |
denden | 0:5e6d5dfcb386 | 157 | xbee.putc(0xFE); |
denden | 0:5e6d5dfcb386 | 158 | xbee.putc(0x00); // ブロードキャスト半径 |
denden | 0:5e6d5dfcb386 | 159 | xbee.putc(0x00); // オプション |
denden | 0:5e6d5dfcb386 | 160 | xbee.putc(data); // RFデータ |
denden | 0:5e6d5dfcb386 | 161 | // チェックサムの計算 |
denden | 0:5e6d5dfcb386 | 162 | uint8_t checksum = 0xFF - (0x10+0x01+0xFF+0xFE+data); |
denden | 0:5e6d5dfcb386 | 163 | for (i=0; i<8; i++) checksum -= address[i]; |
denden | 0:5e6d5dfcb386 | 164 | xbee.putc(checksum); // チェックサム |
denden | 0:5e6d5dfcb386 | 165 | |
denden | 0:5e6d5dfcb386 | 166 | // 送信ステータスの確認 |
denden | 0:5e6d5dfcb386 | 167 | if (xbee.readable()) { |
denden | 0:5e6d5dfcb386 | 168 | if (xbee.getc() == 0x7E) { |
denden | 0:5e6d5dfcb386 | 169 | for (i=0; i<8; i++) xbee.getc(); |
denden | 0:5e6d5dfcb386 | 170 | if (xbee.getc() == 0x00) |
denden | 0:5e6d5dfcb386 | 171 | pc.printf("Send success!\n"); |
denden | 0:5e6d5dfcb386 | 172 | else |
denden | 0:5e6d5dfcb386 | 173 | pc.printf("Send missed.\n"); |
denden | 0:5e6d5dfcb386 | 174 | for (i=9; i<10; i++) xbee.getc(); |
denden | 0:5e6d5dfcb386 | 175 | } |
denden | 0:5e6d5dfcb386 | 176 | } |
denden | 0:5e6d5dfcb386 | 177 | } |
denden | 0:5e6d5dfcb386 | 178 | |
denden | 0:5e6d5dfcb386 | 179 | |
denden | 0:5e6d5dfcb386 | 180 | /*--- 受信用関数 ---*/ |
denden | 0:5e6d5dfcb386 | 181 | xbeeAPI xbeeRx() { |
denden | 0:5e6d5dfcb386 | 182 | xbeeAPI returnApi; // 返り値用の変数 |
denden | 0:5e6d5dfcb386 | 183 | returnApi.reset(); |
denden | 0:5e6d5dfcb386 | 184 | if (xbee.readable() > 0) { |
denden | 0:5e6d5dfcb386 | 185 | pc.printf("readable\n"); |
denden | 0:5e6d5dfcb386 | 186 | if (xbee.getc() == 0x7E) { |
denden | 0:5e6d5dfcb386 | 187 | pc.printf("startBit\n"); |
denden | 0:5e6d5dfcb386 | 188 | int i=0; |
denden | 0:5e6d5dfcb386 | 189 | uint8_t buffer[18]; |
denden | 0:5e6d5dfcb386 | 190 | |
denden | 0:5e6d5dfcb386 | 191 | buffer[0] = 0x7E; |
denden | 0:5e6d5dfcb386 | 192 | for (i=1; i<18; i++) { |
denden | 0:5e6d5dfcb386 | 193 | buffer[i] = xbee.getc(); |
denden | 0:5e6d5dfcb386 | 194 | } |
denden | 0:5e6d5dfcb386 | 195 | // 送信元アドレスを抽出 |
denden | 0:5e6d5dfcb386 | 196 | for (i=0; i<8; i++) { |
denden | 0:5e6d5dfcb386 | 197 | returnApi.address[i] = buffer[i+4]; |
denden | 0:5e6d5dfcb386 | 198 | } |
denden | 0:5e6d5dfcb386 | 199 | // 受信データを抽出 |
denden | 0:5e6d5dfcb386 | 200 | returnApi.direction = buffer[15]; |
denden | 0:5e6d5dfcb386 | 201 | returnApi.turning = buffer[16]; |
denden | 0:5e6d5dfcb386 | 202 | |
denden | 0:5e6d5dfcb386 | 203 | // データをPCに表示 |
denden | 0:5e6d5dfcb386 | 204 | for (i=0; i<8; i++) pc.printf("%x", returnApi.address[i]); |
denden | 0:5e6d5dfcb386 | 205 | pc.printf("\n"); |
denden | 0:5e6d5dfcb386 | 206 | pc.printf("%x\n", returnApi.direction); |
denden | 0:5e6d5dfcb386 | 207 | pc.printf("%x\n", returnApi.turning); |
denden | 0:5e6d5dfcb386 | 208 | } |
denden | 0:5e6d5dfcb386 | 209 | } |
denden | 0:5e6d5dfcb386 | 210 | return returnApi; |
denden | 0:5e6d5dfcb386 | 211 | } |
denden | 0:5e6d5dfcb386 | 212 | |
denden | 0:5e6d5dfcb386 | 213 | |
denden | 0:5e6d5dfcb386 | 214 | /*--- レーザー発射 ---*/ |
denden | 0:5e6d5dfcb386 | 215 | void Raser() { |
denden | 0:5e6d5dfcb386 | 216 | Raser1 = 1; |
denden | 0:5e6d5dfcb386 | 217 | Raser2 = 1; |
denden | 0:5e6d5dfcb386 | 218 | wait(1); |
denden | 0:5e6d5dfcb386 | 219 | Raser1 = 0; |
denden | 0:5e6d5dfcb386 | 220 | Raser2 = 0; |
denden | 0:5e6d5dfcb386 | 221 | } |
denden | 0:5e6d5dfcb386 | 222 | |
denden | 0:5e6d5dfcb386 | 223 | |
denden | 0:5e6d5dfcb386 | 224 | /*--- レーザー被弾時割り込み ---*/ |
denden | 0:5e6d5dfcb386 | 225 | // 注)タクトスイッチに、チャタリング防止のためのコンデンサフィルタを付ける |
denden | 0:5e6d5dfcb386 | 226 | void damage() { |
denden | 0:5e6d5dfcb386 | 227 | // 見方コントローラに連絡 |
denden | 0:5e6d5dfcb386 | 228 | led1 = 1; |
denden | 0:5e6d5dfcb386 | 229 | xbeeTx(MyRemoteAddress, 'D'); |
denden | 0:5e6d5dfcb386 | 230 | wait(1); |
denden | 0:5e6d5dfcb386 | 231 | led1 = 0; |
denden | 0:5e6d5dfcb386 | 232 | } |
denden | 0:5e6d5dfcb386 | 233 | |
denden | 0:5e6d5dfcb386 | 234 | |
denden | 0:5e6d5dfcb386 | 235 | |
denden | 0:5e6d5dfcb386 | 236 | |
denden | 0:5e6d5dfcb386 | 237 | |
denden | 0:5e6d5dfcb386 | 238 | |
denden | 0:5e6d5dfcb386 | 239 | int main() { |
denden | 0:5e6d5dfcb386 | 240 | |
denden | 0:5e6d5dfcb386 | 241 | /*--- 変数宣言 ---*/ |
denden | 0:5e6d5dfcb386 | 242 | int i, j, k; |
denden | 0:5e6d5dfcb386 | 243 | xbeeAPI rxData; // コントローラからのデータ受信用変数 |
denden | 0:5e6d5dfcb386 | 244 | |
denden | 0:5e6d5dfcb386 | 245 | /*--- 初期設定 ---*/ |
denden | 0:5e6d5dfcb386 | 246 | // ビットレートの設定 |
denden | 0:5e6d5dfcb386 | 247 | xbee.baud(9600); |
denden | 0:5e6d5dfcb386 | 248 | pc.baud(9600); |
denden | 0:5e6d5dfcb386 | 249 | // 割り込みの設定 |
denden | 0:5e6d5dfcb386 | 250 | raserSensor1.rise(&damage); |
denden | 0:5e6d5dfcb386 | 251 | raserSensor2.rise(&damage); |
denden | 0:5e6d5dfcb386 | 252 | raserSensor3.rise(&damage); |
denden | 0:5e6d5dfcb386 | 253 | // 初期値の設定 |
denden | 0:5e6d5dfcb386 | 254 | Raser1=0; Raser2=0; |
denden | 0:5e6d5dfcb386 | 255 | led1=0; led2=0; led3=0; led4=0; |
denden | 0:5e6d5dfcb386 | 256 | |
denden | 0:5e6d5dfcb386 | 257 | |
denden | 0:5e6d5dfcb386 | 258 | |
denden | 0:5e6d5dfcb386 | 259 | /*--- 繰り返し処理 ---*/ |
denden | 0:5e6d5dfcb386 | 260 | while(1) { |
denden | 0:5e6d5dfcb386 | 261 | // 受信 |
denden | 0:5e6d5dfcb386 | 262 | rxData = xbeeRx(); |
denden | 0:5e6d5dfcb386 | 263 | |
denden | 0:5e6d5dfcb386 | 264 | // チェック |
denden | 0:5e6d5dfcb386 | 265 | if (rxData.address[7] != MyRemoteAddress[7]) continue; |
denden | 0:5e6d5dfcb386 | 266 | // 命令確認 & 実行 |
denden | 0:5e6d5dfcb386 | 267 | switch (rxData.direction) { |
denden | 0:5e6d5dfcb386 | 268 | case 'w': FFmove(); break; |
denden | 0:5e6d5dfcb386 | 269 | case 'q': FLmove(); break; |
denden | 0:5e6d5dfcb386 | 270 | case 'e': FRmove(); break; |
denden | 0:5e6d5dfcb386 | 271 | |
denden | 0:5e6d5dfcb386 | 272 | case 'a': Lmove(); break; |
denden | 0:5e6d5dfcb386 | 273 | case 'd': Rmove(); break; |
denden | 0:5e6d5dfcb386 | 274 | |
denden | 0:5e6d5dfcb386 | 275 | case 'x': BBmove(); break; |
denden | 0:5e6d5dfcb386 | 276 | case 'z': BLmove(); break; |
denden | 0:5e6d5dfcb386 | 277 | case 'c': BRmove(); break; |
denden | 0:5e6d5dfcb386 | 278 | |
denden | 0:5e6d5dfcb386 | 279 | case 'o': Lturn(); break; |
denden | 0:5e6d5dfcb386 | 280 | case 'p': Rturn(); break; |
denden | 0:5e6d5dfcb386 | 281 | |
denden | 0:5e6d5dfcb386 | 282 | |
denden | 0:5e6d5dfcb386 | 283 | case 's': Stop(); break; |
denden | 0:5e6d5dfcb386 | 284 | |
denden | 0:5e6d5dfcb386 | 285 | case 'r': |
denden | 0:5e6d5dfcb386 | 286 | Raser(); // レーザー発射! |
denden | 0:5e6d5dfcb386 | 287 | rxData.direction = 0x00; |
denden | 0:5e6d5dfcb386 | 288 | break; |
denden | 0:5e6d5dfcb386 | 289 | } |
denden | 0:5e6d5dfcb386 | 290 | switch (rxData.turning) { |
denden | 0:5e6d5dfcb386 | 291 | case 0: |
denden | 0:5e6d5dfcb386 | 292 | |
denden | 0:5e6d5dfcb386 | 293 | } |
denden | 0:5e6d5dfcb386 | 294 | |
denden | 0:5e6d5dfcb386 | 295 | |
denden | 0:5e6d5dfcb386 | 296 | // wait(0.5); |
denden | 0:5e6d5dfcb386 | 297 | |
denden | 0:5e6d5dfcb386 | 298 | } |
denden | 0:5e6d5dfcb386 | 299 | |
denden | 0:5e6d5dfcb386 | 300 | |
denden | 0:5e6d5dfcb386 | 301 | return 0; |
denden | 0:5e6d5dfcb386 | 302 | } |
denden | 0:5e6d5dfcb386 | 303 | |
denden | 0:5e6d5dfcb386 | 304 | |
denden | 0:5e6d5dfcb386 | 305 | |
denden | 0:5e6d5dfcb386 | 306 | |
denden | 0:5e6d5dfcb386 | 307 | |
denden | 0:5e6d5dfcb386 | 308 | |
denden | 0:5e6d5dfcb386 | 309 | |
denden | 0:5e6d5dfcb386 | 310 | |
denden | 0:5e6d5dfcb386 | 311 | |
denden | 0:5e6d5dfcb386 | 312 | |
denden | 0:5e6d5dfcb386 | 313 | |
denden | 0:5e6d5dfcb386 | 314 | |
denden | 0:5e6d5dfcb386 | 315 | |
denden | 0:5e6d5dfcb386 | 316 |