Takuya Kobayashi
/
mbed_linetrace_termB_test
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Revision 3:6a42c3c3d816, committed 2018-10-30
- Comitter:
- kamorei
- Date:
- Tue Oct 30 06:32:38 2018 +0000
- Parent:
- 2:8748af75523f
- Commit message:
- 10/30 ?????
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/main.cpp Tue Oct 30 06:24:21 2018 +0000
+++ b/main.cpp Tue Oct 30 06:32:38 2018 +0000
@@ -182,6 +182,7 @@
break;
}
}
+
//以下トンネル内部
if( i < 2){
turn_right();
@@ -191,6 +192,9 @@
turn_right();
if( sensor[3] <= blackR){
stop_turn_right();
+
+ wait(0.5);
+
break;
}
}
@@ -203,7 +207,9 @@
white_tunnel = sensorL.read();
gray_tunnel = (white_tunnel - black_tunnel) / 2;
- while(1){ //姿勢を直す
+
+ //姿勢を直す
+ while(1){
sensor[3] = sensorR.read();
turn_left();
if( sensor[3] <= blackR){
@@ -211,6 +217,28 @@
break;
}
}
+
+ //トンネルに入る
+ while(1){
+ sensor[0] = sensorL.read();
+ sensor[1] = sensorCL.read();
+ sensor[2] = sensorCR.read();
+ sensor[3] = sensorR.read();
+
+ pr = (sensor[2] - black) / (white - black);
+ pl = (sensor[1] - black) / (white - black);
+
+ go_straight_p();
+
+ if( sensor[1] < gray_tunnel && sensor[2] < gray_tunnel){
+ stop_point();
+ ledRR = 0b11; //←２進数表記使える…？
+ wait(0.5);
+ break;
+ }
+ }
+
+ //トンネルの中でのトレース
while(1){
sensor[0] = sensorL.read();
sensor[1] = sensorCL.read();