Diff: main.cpp

Revision:

1:5a97a5e4ee44

Parent:

0:0abe8038e775

Child:

2:bbd10b5da0bf

--- a/main.cpp	Fri Oct 19 18:08:13 2018 +0000
+++ b/main.cpp	Mon Oct 22 07:07:35 2018 +0000
@@ -18,25 +18,23 @@
 PwmOut Mrightp(PTA12);
 
 float white = 0.5, black = 0.08, gray = 0.15;   //値をぶち込む
-float whiteR = 0.05, blackR = 0.008, grayR = 0.015; //弱いセンサ用
+float whiteR = 0.02, blackR = 0.008, grayR = 0.015; //弱いセンサ用
 float sensor[4];    //sensor[0]:sensorL ... sensor[3]:sensorR
 
 void turn_right(){
-    //左を正転，右を停止
     Mlefti = 2;
-    Mleftp = 0.5f;
+    Mleftp = 0.7f;
     Mrighti = 1;
-    Mrightp = 0.5f;
+    Mrightp = 0.2f;
     ledR = 1;
     ledL = 0;
 }
 
-void turn_left(){
-    //右を正転，左を停止 
+void turn_left(){ 
     Mrighti = 2;
-    Mrightp = 0.5f;
+    Mrightp = 0.7f;
     Mlefti = 1;
-    Mleftp = 0.5f;    
+    Mleftp = 0.2f;    
     ledR = 0;
     ledL = 1;
 }
@@ -44,9 +42,9 @@
 void go_straight(){
     //まっすぐ行こう
     Mrighti = 2;
-    Mrightp = 0.5f;
+    Mrightp = 0.8f;
     Mlefti = 2;
-    Mleftp = 0.5f;
+    Mleftp = 0.8f;
     ledR = 0;
     ledL = 0;
 }
@@ -61,7 +59,7 @@
 
 int main() {
     go_straight();
-    wait(3);    
+    wait(0.5);    
     while(1) {
         sensor[0] = sensorL.read();
         sensor[1] = sensorCL.read();
@@ -72,9 +70,11 @@
             turn_right();
         else if( sensor[1] <= gray && sensor[2] >= white)
             turn_left();
-        else if( sensor[1] <= gray && sensor[2] <= gray)
+        else if( sensor[1] <= black && sensor[2] <= black)
             go_straight();
-        //if( sensor[0] <= gray && sensor[3] <= grayR)
-        //    stop_point();
+        if( sensor[0] <= gray && sensor[3] <= grayR){
+            stop_point();
+            break;
+        }
     }
 }