hayama _lab
/
mbedLinetracer_RTOS
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Revision 1:3f0aea9f0622, committed 2016-02-01
- Comitter:
- hayama_lab
- Date:
- Mon Feb 01 17:36:43 2016 +0000
- Parent:
- 0:8626b3f15c02
- Commit message:
- ????
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/main.cpp Sat Jan 30 12:39:11 2016 +0000
+++ b/main.cpp Mon Feb 01 17:36:43 2016 +0000
@@ -1,6 +1,6 @@
//**********************************
//
-// mbed Robotracer using RTOS
+// mbed Linetracer using RTOS
//
// Rion Yamada(National Institute of Technology)
//
@@ -86,18 +86,12 @@
ledCout=0; // LED-OFF
sensD=0;
- if (sens1>STH ) sensD |= 0x20;
- else sensD &= ~(0x20);
- if (sens2>STH ) sensD |= 0x10;
- else sensD &= ~(0x10);
- if (sens3>STH ) sensD |= 0x08;
- else sensD &= ~(0x08);
- if (sens4>STH ) sensD |= 0x04;
- else sensD &= ~(0x04);
- if (sens5>STH ) sensD |= 0x02;
- else sensD &= ~(0x02);
- if (sens6>STH ) sensD |= 0x01;
- else sensD &= ~(0x01);
+ if (sens1>STH ) sensD |= 0x20; else sensD &= ~(0x20);
+ if (sens2>STH ) sensD |= 0x10; else sensD &= ~(0x10);
+ if (sens3>STH ) sensD |= 0x08; else sensD &= ~(0x08);
+ if (sens4>STH ) sensD |= 0x04; else sensD &= ~(0x04);
+ if (sens5>STH ) sensD |= 0x02; else sensD &= ~(0x02);
+ if (sens6>STH ) sensD |= 0x01; else sensD &= ~(0x01);
sensDout=sensArray[sensD];
if (sensSG>STH) markerSG++;
@@ -123,50 +117,17 @@
{
switch(sensDout) {
- case -5:
- r=3;
- l=20;
- break;
- case -4:
- r=3;
- l=15;
- break;
- case -3:
- r=3;
- l=15;
- break;
- case -2:
- r=5;
- l=10;
- break;
- case -1:
- r=5;
- l=10;
- break;
- case 0:
- r=5;
- l=5;
- break;
- case 1:
- r=10;
- l=5;
- break;
- case 2:
- r=10;
- l=5;
- break;
- case 3:
- r=15;
- l=3;
- break;
- case 4:
- r=15;
- l=3;
- break;
- case 5:
- r=20;
- l=3;
- break;
+ case -5: r=3; l=20; break;
+ case -4: r=3; l=15; break;
+ case -3: r=3; l=15; break;
+ case -2: r=5; l=10; break;
+ case -1: r=5; l=10; break;
+ case 0: r=5; l=5; break;
+ case 1: r=10; l=5; break;
+ case 2: r=10; l=5; break;
+ case 3: r=15; l=3; break;
+ case 4: r=15; l=3; break;
+ case 5: r=20; l=3; break;
}
if(f==1) return(r);
else return(l);
@@ -355,24 +316,20 @@
// run selected functions
switch(pmode) {
- case 0:
- check_sens();
- break; // check sensors
- case 1:
- thread1.signal_set(0x1); // run forward
- thread2.signal_set(0x1);
- runTurn(1,1,500);
- break;
- case 2:
- thread1.signal_set(0x1); // turn right
- thread2.signal_set(0x1);
- runTurn(2,1,500);
- break;
- case 3:
- thread1.signal_set(0x1); // trace run
- thread2.signal_set(0x1);
- run();
- break;
+ case 0: check_sens(); // check sensors
+ break;
+ case 1: thread1.signal_set(0x1); // run forward
+ thread2.signal_set(0x1);
+ runTurn(1,1,500);
+ break;
+ case 2: thread1.signal_set(0x1); // turn right
+ thread2.signal_set(0x1);
+ runTurn(2,1,500);
+ break;
+ case 3: thread1.signal_set(0x1); // trace run
+ thread2.signal_set(0x1);
+ run();
+ break;
}
}
}