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Dependencies:   mbed

main.cpp@2:bbd10b5da0bf, 2018-10-22 (annotated)

Committer:
kamorei
Date:
Mon Oct 22 08:35:25 2018 +0000
Revision:
2:bbd10b5da0bf
Parent:
1:5a97a5e4ee44
Child:
3:bc6c111b88da
10/22 ??; ???????????????????????

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kamorei 0:0abe8038e775 1 #include "mbed.h"
kamorei 0:0abe8038e775 2
kamorei 0:0abe8038e775 3 DigitalOut ledL( PTB8);
kamorei 0:0abe8038e775 4 DigitalOut ledR( PTE5);
kamorei 0:0abe8038e775 5 BusOut ledLL( PTB8, PTB9);
kamorei 0:0abe8038e775 6 BusOut ledRR( PTE5, PTE4); //わざと右から書いてます
kamorei 0:0abe8038e775 7
kamorei 0:0abe8038e775 8 AnalogIn sensorR( PTB1);
kamorei 0:0abe8038e775 9 AnalogIn sensorL( PTB3);
kamorei 0:0abe8038e775 10 AnalogIn sensorCR( PTB0);
kamorei 0:0abe8038e775 11 AnalogIn sensorCL( PTB2);
kamorei 0:0abe8038e775 12
kamorei 0:0abe8038e775 13 //モータ1
kamorei 0:0abe8038e775 14 BusOut Mlefti(PTA1, PTA2);
kamorei 0:0abe8038e775 15 PwmOut Mleftp(PTD4);
kamorei 0:0abe8038e775 16 //モータ2
kamorei 0:0abe8038e775 17 BusOut Mrighti(PTC0, PTC7);
kamorei 0:0abe8038e775 18 PwmOut Mrightp(PTA12);
kamorei 0:0abe8038e775 19
kamorei 0:0abe8038e775 20 float white = 0.5, black = 0.08, gray = 0.15; //値をぶち込む
kamorei 1:5a97a5e4ee44 21 float whiteR = 0.02, blackR = 0.008, grayR = 0.015; //弱いセンサ用
kamorei 0:0abe8038e775 22 float sensor[4]; //sensor[0]:sensorL ... sensor[3]:sensorR
kamorei 0:0abe8038e775 23
kamorei 0:0abe8038e775 24 void turn_right(){
kamorei 0:0abe8038e775 25 Mlefti = 2;
kamorei 2:bbd10b5da0bf 26 Mleftp = 0.5f;
kamorei 0:0abe8038e775 27 Mrighti = 1;
kamorei 2:bbd10b5da0bf 28 Mrightp = 0.5f;
kamorei 0:0abe8038e775 29 ledR = 1;
kamorei 0:0abe8038e775 30 ledL = 0;
kamorei 0:0abe8038e775 31 }
kamorei 0:0abe8038e775 32
kamorei 1:5a97a5e4ee44 33 void turn_left(){
kamorei 0:0abe8038e775 34 Mrighti = 2;
kamorei 2:bbd10b5da0bf 35 Mrightp = 0.5f;
kamorei 0:0abe8038e775 36 Mlefti = 1;
kamorei 2:bbd10b5da0bf 37 Mleftp = 0.3f;
kamorei 0:0abe8038e775 38 ledR = 0;
kamorei 0:0abe8038e775 39 ledL = 1;
kamorei 0:0abe8038e775 40 }
kamorei 0:0abe8038e775 41
kamorei 0:0abe8038e775 42 void go_straight(){
kamorei 0:0abe8038e775 43 //まっすぐ行こう
kamorei 0:0abe8038e775 44 Mrighti = 2;
kamorei 1:5a97a5e4ee44 45 Mrightp = 0.8f;
kamorei 0:0abe8038e775 46 Mlefti = 2;
kamorei 1:5a97a5e4ee44 47 Mleftp = 0.8f;
kamorei 0:0abe8038e775 48 ledR = 0;
kamorei 0:0abe8038e775 49 ledL = 0;
kamorei 0:0abe8038e775 50 }
kamorei 0:0abe8038e775 51
kamorei 0:0abe8038e775 52 void stop_point(){
kamorei 0:0abe8038e775 53 //停止
kamorei 0:0abe8038e775 54 Mrighti = 0;
kamorei 0:0abe8038e775 55 Mlefti = 0;
kamorei 0:0abe8038e775 56 ledRR = 2;
kamorei 0:0abe8038e775 57 ledLL = 2;
kamorei 0:0abe8038e775 58 }
kamorei 0:0abe8038e775 59
kamorei 0:0abe8038e775 60 int main() {
kamorei 0:0abe8038e775 61 go_straight();
kamorei 2:bbd10b5da0bf 62 wait(0.2);
kamorei 0:0abe8038e775 63 while(1) {
kamorei 0:0abe8038e775 64 sensor[0] = sensorL.read();
kamorei 0:0abe8038e775 65 sensor[1] = sensorCL.read();
kamorei 0:0abe8038e775 66 sensor[2] = sensorCR.read();
kamorei 0:0abe8038e775 67 sensor[3] = sensorR.read();
kamorei 0:0abe8038e775 68
kamorei 0:0abe8038e775 69 if( sensor[1] >= white && sensor[2] <= gray)
kamorei 0:0abe8038e775 70 turn_right();
kamorei 0:0abe8038e775 71 else if( sensor[1] <= gray && sensor[2] >= white)
kamorei 0:0abe8038e775 72 turn_left();
kamorei 2:bbd10b5da0bf 73 else
kamorei 0:0abe8038e775 74 go_straight();
kamorei 1:5a97a5e4ee44 75 if( sensor[0] <= gray && sensor[3] <= grayR){
kamorei 1:5a97a5e4ee44 76 stop_point();
kamorei 1:5a97a5e4ee44 77 break;
kamorei 1:5a97a5e4ee44 78 }
kamorei 0:0abe8038e775 79 }
kamorei 0:0abe8038e775 80 }