Revision 2:31eb6fbb8119, committed 2015-03-11

Comitter:

eil4nyqn

Date:

Wed Mar 11 08:37:06 2015 +0000

Parent:

1:08767e2e643b

Commit message:

nara2

Changed in this revision

diff -r 08767e2e643b -r 31eb6fbb8119 main.cpp
--- a/main.cpp	Tue Mar 10 01:30:52 2015 +0000
+++ b/main.cpp	Wed Mar 11 08:37:06 2015 +0000
@@ -1,3 +1,4 @@
+//交流ロボコンロボット側プログラム
 #include "mbed.h"
 
 PwmOut moter[] = {p23,p24};
@@ -8,27 +9,26 @@
 
 int main() {
     uint8_t data_r1,data_r2,data_l1,data_l2,sw_data5,sw_data6,start;
+    uint8_t select_r,select_l,select_all,check,checker;
     double signal_r,signal_l;
-    uint8_t select_r,select_l,select_all,check,checker;
-
     
     while(1){
+        //初期化
         select_r = 0;
         select_l = 0;
         signal_r = 0;
         signal_l = 0;
-        //if(mc.readable() == 1){
-            start = mc.getc();
-            data_r1 = mc.getc();
-            data_r2 = mc.getc();
-            data_l1 = mc.getc();
-            data_l2 = mc.getc();
-            sw_data5 = mc.getc();
-            sw_data6 = mc.getc();
-            check = mc.getc();
-            
-           // pc.printf("%u_%u_%u_%u_%u_%u_%u/n",start,data_r1,data_r2,data_l1,data_l2,sw_data5,sw_data6);
-            if(start == 255){
+        //受信部
+        start = mc.getc();
+        data_r1 = mc.getc();
+        data_r2 = mc.getc();
+        data_l1 = mc.getc();
+        data_l2 = mc.getc();
+        sw_data5 = mc.getc();
+        sw_data6 = mc.getc();
+        check = mc.getc();
+        //加工    
+           if(start == 255){
                 if(data_r1 != 0){
                     signal_r = data_r1/200.0000;
                     select_r = 16;
@@ -43,22 +43,38 @@
                     signal_l = data_l2/200.0000;
                     select_l = 128;
                 }
+            }
+            else  {
+                moter[0] = 0;
+                moter[1] = 0;
+                selecter = 0;
+                }
+            //Right
+            if (signal_r >= 0.6) {
+                signal_r = 1;
+            }else if(signal_r >= 0.3) {
+                signal_r = 0.5;
+            }else {
+                signal_r = 0;
+            }//Left
+            if (signal_l >= 0.6) {
+                signal_l= 1;
+            }else if(signal_l >= 0.3) {
+                signal_l = 0.5;
+            }else {
+                signal_l = 0;
+            }
+            
                 checker = data_r1^data_r2^data_l1^data_l2^sw_data5^sw_data6;
                 select_all = sw_data5+sw_data6+select_r+select_l;
                                     
-                //pc.printf("%f_%f_%d_%d_%d_%d\n",signal_a1,signal_a2,n,z,m,x);
-                //pc.printf("%u_\n",start);
                 pc.printf("%u_%u_%u_%u_%u_%u_%u_%u\n",start,data_r1,data_r2,data_l1,data_l2,sw_data5,sw_data6,select_all);
-                //pc.printf("%u_%u\n",checker,check);
-                //pc.printf("%f_%f_%u_%u\n",signal_a1,signal_a2,sw_data5,sw_data6);
-                
+                             
                 if(check == checker){
                     moter[0] = signal_r;
                     moter[1] = signal_l;
                     selecter = select_all;
                 }
             }
-        }/*else if(mc.readable() == 0){//読むとゴキブリになる文
-            selecter = 0;
-        }*/
-    }
+        }
+  
\ No newline at end of file