Diff: main.cpp

Revision:

0:f1a55bedce7d

Child:

1:1afb2ef8c2cc

diff -r 000000000000 -r f1a55bedce7d main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Nov 06 17:24:21 2018 +0000
@@ -0,0 +1,135 @@
+/*
+memo
+grayCR,grayCLを変動させる
+grayR,grayLも変動させたほうがいい…？
+*/
+
+#include "mbed.h"
+
+#define KP 1.5  //Pゲイン
+#define CHG 1.0 //change_gray用の係数
+#define WHITE_CL 0.39
+#define WHITE_CR 0.39
+#define GRAY_CL 0.21
+#define GRAY_CR 0.32
+
+DigitalOut ledL( PTB8);
+DigitalOut ledR( PTE5);
+BusOut ledLL( PTB8, PTB9);
+BusOut ledRR( PTE5, PTE4);  //わざと右から書いてます
+
+AnalogIn sensorR( PTB1);
+AnalogIn sensorL( PTB3);
+AnalogIn sensorCR( PTB0);
+AnalogIn sensorCL( PTB2);
+
+//モータ1
+BusOut Mlefti(PTA1, PTA2);
+PwmOut Mleftp(PTD4);
+//モータ2
+BusOut Mrighti(PTC0, PTC7);
+PwmOut Mrightp(PTA12);
+
+float whiteCL[2], whiteCR[2], grayCL[2], grayCR[2]; //[1]が基準値
+float blackCL = 0.03;   //閾値（再定義必須）の跡地
+float blackCR = 0.26;   //↑と同じ
+float whiteL = 0.23, blackL = 0.2, grayL = 0.215;
+float whiteR = 0.25, blackR = 0.2, grayR = 0.225;
+float sensor[4];    //sensor[0]:sensorL ... sensor[3]:sensorR
+float pr, pl;
+
+void set_threshold(){
+    for( int i = 0; i < 2; i++){
+        whiteCL[i] = WHITE_CL;
+        whiteCR[i] = WHITE_CR;
+        grayCL[i] = GRAY_CL;
+        grayCR[i] = GRAY_CR;
+    }
+}
+
+void go_straight_p(){
+    Mrighti = 1;
+    Mrightp = (KP * pr) * 1.0f;
+    Mlefti = 1;
+    Mleftp = (KP * pl) * 1.0f;
+    ledR = 0;
+    ledL = 0;
+}
+
+void turn_right(){
+    Mrighti = 2;
+    Mrightp = 0.8f;
+    Mlefti = 1;
+    Mleftp = 0.8f;
+    ledR = 0;
+    ledL = 1;
+}
+
+void turn_left(){
+    Mrighti = 1;
+    Mrightp = 0.8f;
+    Mlefti = 2;
+    Mleftp = 0.8f;
+    ledR = 1;
+    ledL = 0;
+}
+
+void go_straight_check(){   //モータドライバの調子の確認用
+    Mrighti = 1;
+    Mrightp = 0.8f;
+    Mlefti = 1;
+    Mleftp = 0.8f;
+}
+
+void stop_point(){
+    Mrighti = 2;
+    Mrightp = 0.5f;
+    Mlefti = 2;
+    Mleftp = 0.5f;
+    wait(0.05);
+    Mrighti = 0;
+    Mlefti = 0;
+    ledRR = 0b11;
+    ledLL = 0b11;
+}
+
+void change_gray(){
+    if( sensor[1] <= grayCL[0]){
+        whiteCR[0] = sensorCR.read();
+        grayCR[0] = grayCR[1] * ( 1 + CHG * (whiteCR[1] - whiteCR[0]) / whiteCR[1]);
+        grayCL[0] = grayCL[1] * ( 1 + CHG * (whiteCR[1] - whiteCR[0]) / whiteCR[1]);
+    }
+    else{
+        whiteCR[0] = sensorCL.read();
+        grayCR[0] = grayCR[1] * ( 1 + CHG * (whiteCL[1] - whiteCL[0]) / whiteCL[1]);
+        grayCL[0] = grayCL[1] * ( 1 + CHG * (whiteCL[1] - whiteCL[0]) / whiteCL[1]);
+    }
+}
+
+int main() {
+    set_threshold();
+    go_straight_check();
+    wait(0.2); 
+    while(1) {
+        sensor[0] = sensorL.read();
+        sensor[1] = sensorCL.read();
+        sensor[2] = sensorCR.read();
+        sensor[3] = sensorR.read();
+        
+        pl = (sensor[1] - grayCL[0]) / (whiteCL[0] - grayCL[0]);
+        pr = (sensor[2] - grayCR[0]) / (whiteCR[0] - grayCR[0]);
+        
+        if( sensor[1] <= grayCL[0]){    //sensorCL <= grayCL
+            turn_left();
+            change_gray();
+        } else if( sensor[2] <= grayCR[0]){ //sensorCR <= grayCR
+            turn_right();
+            change_gray();
+        } else
+            go_straight_p();
+        if( sensor[0] <= grayL && sensor[3] <= grayR){
+            stop_point();
+            break;
+        }
+    }
+}
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