File content as of revision 8:b47cebb6aeb8:

#include "mbed.h"

#define KP 5.8  //Pゲイン
#define CHG 1.0 //change_gray用の係数
#define WHITE_CL 0.27   //初期値
#define WHITE_CR 0.235    //初期値
#define GRAY_CL 0.15    //初期値
#define GRAY_CR 0.13     //初期値
#define WHITE_L 0.1     //初期値
#define WHITE_R 0.1     //初期値
#define GRAY_L 0.05     //初期値
#define GRAY_R 0.05     //初期値

//#define graychange

DigitalOut ledCheck( PTE2); //動作check
DigitalOut ledCount( PTB11);    //プログラムの切り替え確認
BusOut ledCHG( PTB10, PTE3);    //change_gray用
BusOut ledLL( PTE5, PTE4);  //ロボットから進行方向を見て左（わざと逆書き）
BusOut ledRR( PTB8, PTB9);  //ロボットから進行方向を見て右
AnalogIn sensorR( PTC2);
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]が初期設定の基準値，[0]が変動する閾値
float whiteL[2], whiteR[2], grayL[2], grayR[2];
float blackCL = 0.03, blackCR = 0.02;   //閾値
float blackL = 0.018, blackR = 0.018;
float stepL = 0.45, stepR = 0.38;
float sensor[4];    //sensor[0]:sensorL ... sensor[3]:sensorR
float pr, pl, chg;

void stop_point_ver2();
void motor_check();

void set_threshold(){   //閾値の初期設定
    for( int i = 0; i < 2; i++){
        whiteCL[i] = WHITE_CL;
        whiteCR[i] = WHITE_CR;
        grayCL[i] = GRAY_CL;
        grayCR[i] = GRAY_CR;
        whiteL[i] = WHITE_L;
        whiteR[i] = WHITE_R;
        grayL[i] = GRAY_L;
        grayR[i] = GRAY_R;
    }
}

void set_sensor(){      //センサ系
    sensor[0] = sensorL.read();
    sensor[1] = sensorCL.read();
    sensor[2] = sensorCR.read();
    sensor[3] = sensorR.read();
}

void go_straight_p(){   //P制御でトレース
    pl = (sensor[1] - grayCL[0]) / (whiteCL[0] - grayCL[0]);
    pr = (sensor[2] - grayCR[0]) / (whiteCR[0] - grayCR[0]);
    Mrighti = 2;
    if( pl >= 0.0)
        Mrightp = (KP * pr) * 1.0f;
    else
        Mrightp = 1.0f;
    Mlefti = 2;
    if( pr >= 0.0)
        Mleftp = (KP * pl) * 1.0f;
    else
        Mleftp = 1.0f;
    ledRR = 0b01;
    ledLL = 0b01;
}

void go_straight_CR(){  //CRのみでトレース
    pr = (sensor[2] - grayCR[0]) / (whiteCR[0] - grayCR[0]);
    Mrighti = 2;
    Mrightp = (KP * pr) * 1.0f;
    Mlefti = 2;
    Mleftp = (1.0 - KP * pr) * 1.0f;
    ledRR = 0b11;
    ledLL = 0;
}

void turn_right(){
    Mrighti = 1;
    Mrightp = 0.05f;
    Mlefti = 2;
    Mleftp = 0.5f;
    ledRR = 0b01;
    ledLL = 0;
}

void turn_left(){
    Mrighti = 2;
    Mrightp = 0.5f;
    Mlefti = 1;
    Mleftp = 0.05f;
    ledRR = 0;
    ledLL = 0b01;
}

void turn_right_corner( float f){
    motor_check();
    wait(f);
    sensor[3] = sensorR.read();
    while( sensor[3] >= blackR){   //sensorR > grayR[0]
        sensor[3] = sensorR.read();
        turn_right();
    }
    stop_point_ver2();
//    turn_left();
//    wait(0.3);
}

void turn_left_corner( float f){
    motor_check();
    wait(f);
    sensor[0] = sensorL.read();
    while( sensor[0] >= blackL){   //sensorL > grayL[0]
        sensor[0] = sensorL.read();
        turn_left();
    }
    stop_point_ver2();
//    turn_right();
//    wait(0.3);
}

void motor_check(){   //モータドライバの調子の確認用と単純に直進
    Mrighti = 2;
    Mrightp = 1.0f;
    Mlefti = 2;
    Mleftp = 1.0f;
}

void stop_point_ver2(){
    if( Mrighti == 1)
        Mrighti = 2;
    else if( Mrighti == 2)
        Mrighti = 1;
    if( Mlefti == 1)
        Mlefti = 2;
    else if( Mlefti == 2)
        Mlefti = 1;
    Mrightp = 1.0f;
    Mleftp = 1.0f;
    wait(0.1);
    Mrighti = 0;
    Mlefti = 0;
    ledRR = 0b11;
    ledLL = 0b11;
}

void change_gray_ver2(int i){
    if( i == 0){        //Rが白
        whiteR[0] = sensorR.read();
        chg = (whiteR[1] - whiteR[0]) / whiteR[1];
        grayCR[0] = grayCR[1] * ( 1 + CHG * chg);
        grayCL[0] = grayCL[1] * ( 1 + CHG * chg);
        grayR[0] = grayR[1] * ( 1 + CHG * chg);
        grayL[0] = grayL[1] * ( 1 + CHG * chg);
        ledCHG = 0b01;
        wait( 0.1);
        ledCHG = 0;
    }
    else {      //Lが白
        whiteL[0] = sensorL.read();
        chg = (whiteL[1] - whiteL[0]) / whiteL[1];
        grayCR[0] = grayCR[1] * ( 1 + CHG * chg);
        grayCL[0] = grayCL[1] * ( 1 + CHG * chg);
        grayR[0] = grayR[1] * ( 1 + CHG * chg);
        grayL[0] = grayL[1] * ( 1 + CHG * chg);
        ledCHG = 0b10;
        wait( 0.1);
        ledCHG = 0;
    }
}

void LED_blinky(){      //プログラムの切り替わり確認用
    for( int i = 0; i < 4; i++){
        ledCount = !ledCount;
        wait(0.05);
    }
}

int main() {
    #ifdef graychange
    int i = 1;      //i == 0ならRがwhite，i == 1ならLがwhite
    #endif
    ledCheck = 1;
    set_threshold();
    LED_blinky();
    while(1){      //スタート～最初の左折カーブ
        set_sensor();
        #ifdef graychange
        change_gray_ver2(i);
        #endif
        if( sensor[3] <= blackR){
            turn_right_corner( 0.2);
            break;
        } else
            go_straight_p();
    }
    LED_blinky();
    while(1){       //左折カーブ～段差～左折カーブ
        set_sensor();
        if( sensor[0] <= blackL){
            turn_left_corner( 0.2);
            break;
        } else
            go_straight_p();
    }
    LED_blinky();
    #ifdef graychange
    i = 0;
    #endif
    while(1){       //左折カーブ～左折カーブ
        set_sensor();
        #ifdef graychange
        change_gray_ver2(i);
        #endif
        if( sensor[0] <= blackL){
            turn_left_corner( 0.2);
            break;
        } else
            go_straight_p();
    }
    LED_blinky();
    while(1){       //左折カーブ～トンネル手前のマーク
        set_sensor();
        if( sensor[0] <= grayL[0] && sensor[3] <= grayR[0])
            break;
        else
            go_straight_CR();
    }
    LED_blinky();
    while(1){       //トンネル手前のマーク～Ｔ字
        set_sensor();
        if( sensor[0] <= blackL && sensor[3] <= blackR){
            turn_right_corner( 0.2);
            break;
        } else
            go_straight_p();
    }
    LED_blinky();
    #ifdef graychange
    i = 0;
    #endif
    while(1){       //Ｔ字～半円～鋭角カーブ
        set_sensor();
        #ifdef graychange
        change_gray_ver2(i);
        #endif
        if( sensor[0] <= blackL){
            turn_left_corner( 0.5);
            break;
        } else
            go_straight_CR();
    }
    LED_blinky();
    while(1){       //鋭角カーブ終わり～ゴール
        set_sensor();
        if( sensor[0] <= blackL)
            turn_left_corner( 0.2);
        else if( sensor[3] <= blackR)
            turn_right_corner( 0.2);
        else if( sensor[0] <= grayL[0] && sensor[3] <= grayR[0]){
            stop_point_ver2();
            break;
        } else
            go_straight_p();
    }
    LED_blinky();
}