Revision 1:200aad416161, committed 2013-10-02

Comitter:

hayama

Date:

Wed Oct 02 01:09:55 2013 +0000

Parent:

0:da22b0b4395a

Commit message:

mbed robotracer for education.
;

Changed in this revision

--- a/main.cpp	Wed Jun 19 10:00:41 2013 +0000
+++ b/main.cpp	Wed Oct 02 01:09:55 2013 +0000
@@ -152,9 +152,9 @@
 }
 
 //-------------------------------------------------------------------------- 
-// check sensor value using serial port                          
+// check sensors                        
 //-------------------------------------------------------------------------- 
-void check_sens(){  
+void check_sens(){                                 // serial output of sensor level
   while (1){   
     pc.printf("sensC :"); pc.printf("%f\n",sensC); // 
     pc.printf("sensSG :"); pc.printf("%f\n",sensSG); // 
@@ -170,6 +170,35 @@
   }
 }
 
+void check_sens_level(){                           // leds output of sensor level
+  int i=0;
+  while (1){   
+    if (setSw==0) {               
+      wait(0.01); 
+      beep(50);
+      while (setSw==0);
+      wait(0.01); 
+      i++; if (i>7) i=0;
+    }
+    if (i==0){leds=(int)(sens1*10); pc.printf("sens1 x 10="); pc.printf("%d\n",(int)(sens1*10)); }
+    if (i==1){leds=(int)(sens2*10); pc.printf("sens2 x 10="); pc.printf("%d\n",(int)(sens2*10)); }
+    if (i==2){leds=(int)(sens3*10); pc.printf("sens3 x 10="); pc.printf("%d\n",(int)(sens3*10)); }
+    if (i==3){leds=(int)(sens4*10); pc.printf("sens4 x 10="); pc.printf("%d\n",(int)(sens4*10)); }
+    if (i==4){leds=(int)(sens5*10); pc.printf("sens5 x 10="); pc.printf("%d\n",(int)(sens5*10)); }
+    if (i==5){leds=(int)(sens6*10); pc.printf("sens6 x 10="); pc.printf("%d\n",(int)(sens6*10)); }
+    if (i==6){leds=(int)(sensC*10); pc.printf("sensC x 10="); pc.printf("%d\n",(int)(sensC*10)); }
+    if (i==7){leds=(int)(sensSG*10); pc.printf("sensSG x 10="); pc.printf("%d\n",(int)(sensSG*10)); }
+    wait (0.1);
+  }
+}
+        
+void check_pos(){                                   // leds output of line position
+  while (1){   
+    leds=sensDout;
+    wait (0.1);
+  }
+}
+        
 //-------------------------------------------------------------------------- 
 // break and release motors          
 //-------------------------------------------------------------------------- 
@@ -219,7 +248,10 @@
         if (markerX==1) fmarker=0;   
         if (markerX==0 && fmarker==0 && markerC>5) fmarker=1;  
         if (markerX==0 && fmarker==1 && markerC==0){           
-            fmarker=0; beep(50);      
+            fmarker=0; beep(50); 
+            
+            
+                 
         }
 
         // start/goal marker check
@@ -268,7 +300,9 @@
         
         // go selected program
         switch(pmode){
-            case  0: check_sens(); break;          // check sensors  
+            case  0: check_sens_level(); break;    // check sensors by leds 
+          //case  0: check_sens(); break;          // check sensors by serial output 
+          //case  0: check_pos(); break;           // check line position  
             case  1: runTurn(1,1,15,500); break;   // run forward 
             case  2: runTurn(2,1,15,500); break;   // turn right       
             case  3: run(10,30);  break;           // trace run