Diogo Kawamoto
/
m3PI_TP_SETI
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Dependencies: FileSystem_POPS m3PI_TP_POPS_II2015v0 m3pi mbed
Fork of
m3PI_TP_POPS_II2015v0
by 
Samir Bouaziz
Revision 7:ca53c1bde37c, committed 2018-03-06
- Comitter:
- diogohideki
- Date:
- Tue Mar 06 08:35:43 2018 +0000
- Parent:
- 6:9690e497319b
- Child:
- 8:de6ca481b136
- Commit message:
- before 6 mars
Changed in this revision
| main3.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/main3.cpp Thu Feb 22 09:36:38 2018 +0000
+++ b/main3.cpp Tue Mar 06 08:35:43 2018 +0000
@@ -20,7 +20,7 @@
#define MAX 0.3
#define MIN -0.2
-#define seuil(x) (x>300 ? 1 : 0)
+#define seuil(x) (x>400 ? 1 : 0)
float current_pos_of_line,
previous_pos_of_line,
@@ -56,8 +56,8 @@
}
void step() {
- m3pi.forward(0.4*speed);
- wait(0.22);
+ m3pi.forward(0.12);
+ wait(0.18);
// m3pi.stop();
}
@@ -77,35 +77,34 @@
// Deadend
// Back
m3pi.cls();
- m3pi.print("Case 0", 7);
+ m3pi.print("Back", 5);
m3pi.stop();
result = 2;
break;
- case 0x1C: case 0x18: case 0x1E:
+ case 0x18: case 0x1C: case 0x1E:
// Forward/Left or Left Only
- // m3pi.stop();
step();
current_state();
- if ((sensors == 0x10) || (sensors == 0x18)) {
- // Turn Left
+ if ((sensors == 0x04) || (sensors == 0x06) || (sensors == 0x0C) || (sensors == 0x14) || (sensors == 0x16) || (sensors == 0x07)) {
+ // Forward
m3pi.cls();
- m3pi.print("Left", 5);
- result = 3;
+ m3pi.print("Forw2", 5);
+ result = 1;
} else if (sensors == 0x1F) {
// End
m3pi.cls();
m3pi.print("The End2", 8);
result = 0;
- } else if((sensors == 0x01) || (sensors == 0x03)) {
- // Turn right
+ } else if((sensors == 0x00) || (sensors == 0x10) || (sensors == 0x18)) {
+ // Turn Left
m3pi.cls();
- m3pi.print("Right2", 7);
- result = 1;
+ m3pi.print("Left", 5);
+ result = 3;
} else {
- // Forward
+ // Turn Right
m3pi.cls();
- m3pi.print("Fowar", 5);
- result = 1;
+ m3pi.print("Right2", 6);
+ result = 4;
}
break;
case 0x07: case 0x03:
@@ -121,7 +120,6 @@
// m3pi.stop();
step();
current_state();
- m3pi.print("End", 4);
if (sensors == 0x1F) {
// End
m3pi.cls();
@@ -183,13 +181,11 @@
switch(command) {
case 2:
// Turn Back
- //m3pi.cls();
- //m3pi.print("Back", 5);
if(sensors != 0x01) {
m3pi.right(speed);
result = 2;
} else {
- m3pi.right(0.4*speed);
+ m3pi.right(0.12);
wait(0.12);
m3pi.stop();
result = 1;
@@ -197,13 +193,11 @@
break;
case 3:
// Turn Left
- //m3pi.cls();
- //m3pi.print("Left", 5);
if(sensors != 0x10) {
m3pi.left(speed);
result = 3;
} else {
- m3pi.left(0.4*speed);
+ m3pi.left(0.12);
wait(0.1);
m3pi.stop();
result = 1;
@@ -211,13 +205,11 @@
break;
case 4:
// Turn Right
- //m3pi.cls();
- //m3pi.print("Right", 6);
if(sensors != 0x01) {
m3pi.right(speed);
result = 4;
} else {
- m3pi.right(0.4*speed);
+ m3pi.right(0.12);
wait(0.1);
m3pi.stop();
result = 1;