nakao kanaki / Mbed 2 deprecated Eco_ziguzagu

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Dependencies:   mbed

main.cpp@2:864b823b1735, 2016-02-28 (annotated)

Committer:
namikosaito
Date:
Sun Feb 28 15:43:11 2016 +0000
Revision:
2:864b823b1735
Parent:
1:f9c953ddc87a
Child:
3:04f6fe153dbc
2_29

Who changed what in which revision?

UserRevisionLine numberNew contents of line
namikosaito 0:77188ca200ce 1 #include "mbed.h"
namikosaito 0:77188ca200ce 2 #include "math.h"
namikosaito 0:77188ca200ce 3 #include "LF2.h"
namikosaito 0:77188ca200ce 4 #include "color.h"
namikosaito 0:77188ca200ce 5 #include "enc_gyro.h"
namikosaito 0:77188ca200ce 6
namikosaito 0:77188ca200ce 7 /*ここで切り替え（強制）*/
namikosaito 1:f9c953ddc87a 8 /*
namikosaito 2:864b823b1735 9 #define SLOPE
namikosaito 2:864b823b1735 10 #define TURN
namikosaito 0:77188ca200ce 11 #define RIVER
namikosaito 0:77188ca200ce 12 //#define RIVER2
namikosaito 0:77188ca200ce 13 #define DOWNHILL
namikosaito 1:f9c953ddc87a 14 */
namikosaito 0:77188ca200ce 15
namikosaito 0:77188ca200ce 16 /*白との差*/
namikosaito 1:f9c953ddc87a 17 #define bw 400 //blueとwhite
namikosaito 0:77188ca200ce 18 #define yw 200 //yellow ちょっと厳しめにすること。
namikosaito 1:f9c953ddc87a 19 #define rw 200 //red(orange)
namikosaito 0:77188ca200ce 20
namikosaito 0:77188ca200ce 21 Serial pc(USBTX, USBRX);
namikosaito 0:77188ca200ce 22 PwmOut servo(p25);
namikosaito 0:77188ca200ce 23 PwmOut blue_led(p21);
namikosaito 0:77188ca200ce 24
namikosaito 0:77188ca200ce 25 void save_servo(void){ //サーボの振れすぎを防ぐ。
namikosaito 0:77188ca200ce 26 if(out>2250)out=2250;
namikosaito 0:77188ca200ce 27 else if(out<650)out=650;
namikosaito 0:77188ca200ce 28 }
namikosaito 0:77188ca200ce 29
namikosaito 0:77188ca200ce 30
namikosaito 0:77188ca200ce 31 /*関数*/
namikosaito 0:77188ca200ce 32 void field(void); //フィールドの色を見る
namikosaito 0:77188ca200ce 33 int wr_flag,wl_flag;
namikosaito 0:77188ca200ce 34 int lf_downhill(void); //ダウンヒルのライントレース用。他のところでも使ってるけど。cdsの最大値、最小値、その差を出す。
namikosaito 0:77188ca200ce 35 int sa_dh,max_dh,min_dh; //lf_downhillで使う変数。
namikosaito 0:77188ca200ce 36 void back(void); //白線の左右どちらに振れたのか見る。（エンコーダー＋ジャイロ）
namikosaito 1:f9c953ddc87a 37 void back_cds(void); //同上（ｃｄｓ）、上り、リバー用
namikosaito 1:f9c953ddc87a 38 void back_cds_dh(void); //同上、ダウンヒル用
namikosaito 0:77188ca200ce 39 int river_turn(void); //リバーの最初の曲がりをcdsで線を読みとる
namikosaito 0:77188ca200ce 40
namikosaito 0:77188ca200ce 41 int back_r_flag=0;
namikosaito 0:77188ca200ce 42 int back_l_flag=0;
namikosaito 0:77188ca200ce 43
namikosaito 0:77188ca200ce 44 float yoko; //上りラインに対しての左右の振れ
namikosaito 0:77188ca200ce 45 int kakudo;
namikosaito 0:77188ca200ce 46
namikosaito 0:77188ca200ce 47 int start_flag=1; //fieldで使用
namikosaito 0:77188ca200ce 48 int rg_flag_1,rg_flag_2,rg_count=0;
namikosaito 0:77188ca200ce 49 int gr_flag_1,gr_flag_2,gr_count=0;
namikosaito 0:77188ca200ce 50
namikosaito 0:77188ca200ce 51 ///////////////////////////////////////////////////////////////////////////////////////////////
namikosaito 0:77188ca200ce 52
namikosaito 0:77188ca200ce 53
namikosaito 0:77188ca200ce 54 int main(){
namikosaito 0:77188ca200ce 55 mcp.format(7,0);
namikosaito 0:77188ca200ce 56 mcp.frequency(1000000);
namikosaito 0:77188ca200ce 57 pc.baud(115200);
namikosaito 0:77188ca200ce 58 gyro.format(16,3);
namikosaito 0:77188ca200ce 59 Enc.attach(&distance, sp_t);
namikosaito 0:77188ca200ce 60 servo.period_ms(20); //サーボ周期
namikosaito 0:77188ca200ce 61 servo.pulsewidth_us(naka);
namikosaito 1:f9c953ddc87a 62 //while(1){}
namikosaito 0:77188ca200ce 63 /*キャリブレーション*/
namikosaito 0:77188ca200ce 64 calibration();
namikosaito 0:77188ca200ce 65
namikosaito 1:f9c953ddc87a 66 if(switch_1==1&&switch_2==0&&switch_3==0){ //最初から
namikosaito 0:77188ca200ce 67 #define SLOPE
namikosaito 0:77188ca200ce 68 #define TURN
namikosaito 0:77188ca200ce 69 #define RIVER
namikosaito 0:77188ca200ce 70 #define DOWNHILL
namikosaito 0:77188ca200ce 71 }
namikosaito 0:77188ca200ce 72
namikosaito 1:f9c953ddc87a 73 else if(switch_1==1&&switch_2==1&&switch_3==0){ //リバーから
namikosaito 0:77188ca200ce 74 #define RIVER
namikosaito 0:77188ca200ce 75 #define DOWNHILL
namikosaito 0:77188ca200ce 76 }
namikosaito 0:77188ca200ce 77
namikosaito 1:f9c953ddc87a 78 else if(switch_1==1&&switch_2==1&&switch_3==1){ //ダウンヒルから
namikosaito 0:77188ca200ce 79 #define DOWNHILL
namikosaito 2:864b823b1735 80 }
namikosaito 0:77188ca200ce 81
namikosaito 0:77188ca200ce 82 #ifdef SLOPE
namikosaito 0:77188ca200ce 83 while(1){
namikosaito 1:f9c953ddc87a 84 //pc.printf("%f\r\n",kyori_nobori);
namikosaito 0:77188ca200ce 85 //pc.printf("data=%d red=%d blue=%d yellow=%d white_l=%d ml=%d m=%d mr=%d r=%d\r\n",data_1,red,blue,yellow,white_l,white_ml,white_m,white_mr,white_r);
namikosaito 1:f9c953ddc87a 86 pc.printf("out=%d,dir=%d,sa_dh=%d,now=%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d\r\n",out,dir,sa_dh,now,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12);
namikosaito 0:77188ca200ce 87 //pc.printf("s1=%d,s2=%d,s3=%d,c1=%d,d1=%d,e1=%d\r\n",s1,s2,s3,c1,d1,e1);
namikosaito 0:77188ca200ce 88 field();
namikosaito 0:77188ca200ce 89 LF();
namikosaito 0:77188ca200ce 90 //back();
namikosaito 1:f9c953ddc87a 91 back_cds();
namikosaito 0:77188ca200ce 92 save_servo();
namikosaito 0:77188ca200ce 93 servo.pulsewidth_us(out);
namikosaito 0:77188ca200ce 94
namikosaito 0:77188ca200ce 95 if(rg_count==0&&gr_count==1)led1=1;
namikosaito 0:77188ca200ce 96 if(rg_count==1&&gr_count==1)led2=1;
namikosaito 0:77188ca200ce 97 if(rg_count==1&&gr_count==2)led3=1;
namikosaito 0:77188ca200ce 98 if(rg_count==2&&gr_count==2)led4=1;
namikosaito 0:77188ca200ce 99 if(rg_count==2&&gr_count==3){
namikosaito 0:77188ca200ce 100 led1=0;
namikosaito 0:77188ca200ce 101 led2=0;
namikosaito 0:77188ca200ce 102 led3=0;
namikosaito 0:77188ca200ce 103 led4=0;
namikosaito 0:77188ca200ce 104 break;
namikosaito 0:77188ca200ce 105 }
namikosaito 0:77188ca200ce 106 }
namikosaito 0:77188ca200ce 107 #endif
namikosaito 0:77188ca200ce 108
namikosaito 0:77188ca200ce 109 /////////////////////////////////////////////////////////////////////////////////////
namikosaito 0:77188ca200ce 110
namikosaito 0:77188ca200ce 111 #ifdef TURN
namikosaito 0:77188ca200ce 112
namikosaito 0:77188ca200ce 113 while(1){
namikosaito 1:f9c953ddc87a 114 gyro_keisan();
namikosaito 1:f9c953ddc87a 115 out=naka+250;
namikosaito 1:f9c953ddc87a 116 // pc.printf("%d\r\n",fixed_rot_data);
namikosaito 0:77188ca200ce 117 servo.pulsewidth_us(out);
namikosaito 0:77188ca200ce 118 led4=1;
namikosaito 1:f9c953ddc87a 119 if(fixed_rot_data<-50)break;//前は６０°だった
namikosaito 0:77188ca200ce 120 }
namikosaito 0:77188ca200ce 121
namikosaito 0:77188ca200ce 122 while(1){
namikosaito 0:77188ca200ce 123 judge_color();
namikosaito 1:f9c953ddc87a 124 lf_downhill();
namikosaito 0:77188ca200ce 125 led3=1;
namikosaito 1:f9c953ddc87a 126 if(white_l==1||white_r==1||white_mr==1||white_ml==1||white_m==1||sa_dh<rw)break;
namikosaito 0:77188ca200ce 127 }
namikosaito 0:77188ca200ce 128
namikosaito 0:77188ca200ce 129 #endif
namikosaito 0:77188ca200ce 130
namikosaito 0:77188ca200ce 131 ////////////////////////////////////////////////////////////////////////////////////
namikosaito 0:77188ca200ce 132
namikosaito 0:77188ca200ce 133 #ifdef RIVER
namikosaito 0:77188ca200ce 134 /*0*/
namikosaito 0:77188ca200ce 135 while(1){ //ライントレース
namikosaito 0:77188ca200ce 136 LF();
namikosaito 0:77188ca200ce 137 out-=50;
namikosaito 0:77188ca200ce 138 judge_color();
namikosaito 0:77188ca200ce 139 //gyro_keisan();
namikosaito 0:77188ca200ce 140 servo.pulsewidth_us(out);
namikosaito 2:864b823b1735 141 //pc.printf("kyori_m45=%f,theta=%d linetrace\r\n",kyori_m45,fixed_rot_data);
namikosaito 0:77188ca200ce 142 //pc.printf("out=%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d\r\n",out,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12);
namikosaito 0:77188ca200ce 143
namikosaito 0:77188ca200ce 144 if(blue==1){ //青になったらリバースタート
namikosaito 0:77188ca200ce 145 river_flag=1;
namikosaito 0:77188ca200ce 146 out=naka-250;
namikosaito 0:77188ca200ce 147 servo.pulsewidth_us(out);
namikosaito 0:77188ca200ce 148 break;
namikosaito 0:77188ca200ce 149 }
namikosaito 0:77188ca200ce 150 }
namikosaito 0:77188ca200ce 151
namikosaito 0:77188ca200ce 152 while(1){
namikosaito 0:77188ca200ce 153 static int magari_flag;
namikosaito 0:77188ca200ce 154 magari_flag++;
namikosaito 0:77188ca200ce 155 if(magari_flag>30)break;
namikosaito 0:77188ca200ce 156 }
namikosaito 0:77188ca200ce 157
namikosaito 0:77188ca200ce 158 /*1*/
namikosaito 0:77188ca200ce 159 while(1){ //初めに曲がる直前まで
namikosaito 0:77188ca200ce 160 //gyro_keisan();
namikosaito 0:77188ca200ce 161
namikosaito 0:77188ca200ce 162 LF(); //基本的にライントレース
namikosaito 0:77188ca200ce 163 out-=50;
namikosaito 0:77188ca200ce 164 if(fixed_rot_data<-60)out=gyro_pid(-45,5,0,0);//out=naka-150; //最初は角度も利用
namikosaito 0:77188ca200ce 165 //if(fixed_rot_data<-75)out=naka-250;
namikosaito 0:77188ca200ce 166
namikosaito 0:77188ca200ce 167 led1=1;
namikosaito 0:77188ca200ce 168 //pc.printf("kyori_m45=%f,theta=%d\r\n",kyori_m45,fixed_rot_data);
namikosaito 0:77188ca200ce 169 if(river_flag==1){
namikosaito 0:77188ca200ce 170 kyori_reset();
namikosaito 0:77188ca200ce 171 river_flag=0;
namikosaito 0:77188ca200ce 172 }
namikosaito 0:77188ca200ce 173 servo.pulsewidth_us(out);
namikosaito 0:77188ca200ce 174 if((river_turn()==1&&kyori_m45>Runder)||kyori>400||kyori_m45>R){ //Rｍｍ進んだらorｃｄｓで直角検知
namikosaito 0:77188ca200ce 175 river_theta=fixed_rot_data;
namikosaito 0:77188ca200ce 176 river_flag=1;
namikosaito 0:77188ca200ce 177 break;
namikosaito 0:77188ca200ce 178 }}
namikosaito 0:77188ca200ce 179
namikosaito 0:77188ca200ce 180 river_keisan(); //角度と距離の補正（いらないかも・・）
namikosaito 0:77188ca200ce 181
namikosaito 0:77188ca200ce 182 /*2*/
namikosaito 0:77188ca200ce 183 while(1){ //向きを９０度に合わせる。
namikosaito 0:77188ca200ce 184 gyro_keisan();
namikosaito 0:77188ca200ce 185 led2=1;
namikosaito 0:77188ca200ce 186 //pc.printf("2 theta=%d\r\n",fixed_rot_data);
namikosaito 1:f9c953ddc87a 187 out=gyro_pid(-90-phai,7,0,0);//705
namikosaito 0:77188ca200ce 188 save_servo();
namikosaito 0:77188ca200ce 189 servo.pulsewidth_us(out);
namikosaito 0:77188ca200ce 190 if(river_flag==1){
namikosaito 0:77188ca200ce 191 kyori_reset();
namikosaito 0:77188ca200ce 192 river_flag=0;
namikosaito 0:77188ca200ce 193 }
namikosaito 0:77188ca200ce 194 if(fixed_rot_data<-85-phai){ //ジャイロの角度が合ったら
namikosaito 0:77188ca200ce 195 out=naka;
namikosaito 0:77188ca200ce 196 break;
namikosaito 0:77188ca200ce 197 }
namikosaito 0:77188ca200ce 198 }
namikosaito 0:77188ca200ce 199
namikosaito 0:77188ca200ce 200 /*3*/
namikosaito 0:77188ca200ce 201 while(1){ //直進する
namikosaito 0:77188ca200ce 202 led3=1;
namikosaito 0:77188ca200ce 203 gyro_keisan();
namikosaito 1:f9c953ddc87a 204 //pc.printf("%f,%f,theta=%d,phai=%f,out=%d\r\n",kyori_m90,Z,fixed_rot_data,phai,out);
namikosaito 0:77188ca200ce 205 out=gyro_pid(-90-phai,6,0.1,0);
namikosaito 0:77188ca200ce 206 save_servo();
namikosaito 0:77188ca200ce 207 servo.pulsewidth_us(out);
namikosaito 0:77188ca200ce 208 if(kyori_m90>Z){ //Zmm進んだら
namikosaito 0:77188ca200ce 209 out=naka-200; //前は100
namikosaito 0:77188ca200ce 210 white_r=0;
namikosaito 0:77188ca200ce 211 white_l=0;
namikosaito 0:77188ca200ce 212 break;
namikosaito 0:77188ca200ce 213 }
namikosaito 0:77188ca200ce 214 }
namikosaito 0:77188ca200ce 215
namikosaito 0:77188ca200ce 216 /*4*/
namikosaito 0:77188ca200ce 217 while(1){ //白線を見つけるまでそのまま
namikosaito 0:77188ca200ce 218 gyro_keisan();
namikosaito 0:77188ca200ce 219 led4=1;
namikosaito 0:77188ca200ce 220 judge_color();
namikosaito 0:77188ca200ce 221 LF();
namikosaito 0:77188ca200ce 222 lf_downhill();
namikosaito 1:f9c953ddc87a 223 pc.printf("%f,%d,%d\r\n",kyori_m90,Ec_count,sa_dh);
namikosaito 1:f9c953ddc87a 224
namikosaito 1:f9c953ddc87a 225 static int riv;
namikosaito 1:f9c953ddc87a 226 if(white_r==1||white_l==1||white_mr==1||white_ml==1||white_m==1)riv++;
namikosaito 0:77188ca200ce 227
namikosaito 0:77188ca200ce 228 if(kyori_m90>T)break; //行き過ぎ
namikosaito 1:f9c953ddc87a 229 if(riv>3||sa_dh>bw){ //白線検知
namikosaito 0:77188ca200ce 230 break;
namikosaito 0:77188ca200ce 231 }
namikosaito 0:77188ca200ce 232 }
namikosaito 0:77188ca200ce 233
namikosaito 0:77188ca200ce 234 if(kyori_m90>T){
namikosaito 0:77188ca200ce 235 servo.pulsewidth_us(1100);
namikosaito 0:77188ca200ce 236 wait(0.5);
namikosaito 0:77188ca200ce 237 }
namikosaito 0:77188ca200ce 238
namikosaito 0:77188ca200ce 239 /*5*/
namikosaito 0:77188ca200ce 240 while(1){ //ライントレースに戻る
namikosaito 0:77188ca200ce 241 gyro_keisan();
namikosaito 0:77188ca200ce 242 LF();
namikosaito 0:77188ca200ce 243 back_cds();
namikosaito 0:77188ca200ce 244 out-=50;
namikosaito 0:77188ca200ce 245 if(fixed_rot_data<-45)out-=50;
namikosaito 0:77188ca200ce 246 if(fixed_rot_data<-75)out-=100;
namikosaito 0:77188ca200ce 247
namikosaito 0:77188ca200ce 248 servo.pulsewidth_us(out);
namikosaito 0:77188ca200ce 249 judge_color();
namikosaito 0:77188ca200ce 250 led1=0;
namikosaito 0:77188ca200ce 251 led2=0;
namikosaito 0:77188ca200ce 252 led3=0;
namikosaito 0:77188ca200ce 253 led4=0;
namikosaito 0:77188ca200ce 254 if(red==1){kyori_reset();break;}
namikosaito 0:77188ca200ce 255 }
namikosaito 0:77188ca200ce 256
namikosaito 0:77188ca200ce 257 #endif
namikosaito 0:77188ca200ce 258
namikosaito 0:77188ca200ce 259 ////////////////////////////////////////////////////////////////////////////
namikosaito 0:77188ca200ce 260
namikosaito 0:77188ca200ce 261 #ifdef DOWNHILL
namikosaito 0:77188ca200ce 262
namikosaito 0:77188ca200ce 263 while(1){
namikosaito 0:77188ca200ce 264 static int q;
namikosaito 0:77188ca200ce 265 q++;
namikosaito 0:77188ca200ce 266 pc.printf("a kyori_dh=%f, theta=%d, out=%d,dir=%d,sa=%f,now=%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d\r\n",kyori_dh,fixed_rot_data,out,dir,sa,now,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12);
namikosaito 0:77188ca200ce 267 judge_color();
namikosaito 0:77188ca200ce 268 LF();
namikosaito 0:77188ca200ce 269 back_cds();
namikosaito 0:77188ca200ce 270 servo.pulsewidth_us(out);
namikosaito 0:77188ca200ce 271 if(yellow==1&&q>30){ //黄色に入る
namikosaito 0:77188ca200ce 272 kyori_reset();
namikosaito 0:77188ca200ce 273 blue_led=1;
namikosaito 0:77188ca200ce 274 downhill=1;
namikosaito 0:77188ca200ce 275 break;
namikosaito 0:77188ca200ce 276 }
namikosaito 0:77188ca200ce 277 }
namikosaito 0:77188ca200ce 278
namikosaito 0:77188ca200ce 279 while(1){
namikosaito 0:77188ca200ce 280 LF();
namikosaito 0:77188ca200ce 281 lf_downhill();
namikosaito 0:77188ca200ce 282 judge_color();
namikosaito 2:864b823b1735 283 back_cds();
namikosaito 0:77188ca200ce 284 pc.printf("kyori_dh=%f,sa_dh=%d, theta=%d, out=%d,dir=%d,sa=%f,now=%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d\r\n",kyori_dh,sa_dh,fixed_rot_data,out,dir,sa,now,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12);
namikosaito 0:77188ca200ce 285
namikosaito 0:77188ca200ce 286 //gyro_keisan();
namikosaito 0:77188ca200ce 287
namikosaito 2:864b823b1735 288 if(kyori_dh>50){
namikosaito 2:864b823b1735 289 static int f;
namikosaito 2:864b823b1735 290 if(sa_dh>yw+50){
namikosaito 2:864b823b1735 291 f=now;
namikosaito 2:864b823b1735 292 /*
namikosaito 2:864b823b1735 293 led1=0;
namikosaito 2:864b823b1735 294 led2=1;
namikosaito 2:864b823b1735 295 led3=0;
namikosaito 2:864b823b1735 296 led4=0;
namikosaito 2:864b823b1735 297 */
namikosaito 2:864b823b1735 298 }
namikosaito 2:864b823b1735 299 else if(sa_dh<yw&&f>2){
namikosaito 2:864b823b1735 300 out=naka+300;
namikosaito 2:864b823b1735 301 /*led1=0;
namikosaito 2:864b823b1735 302 led2=0;
namikosaito 2:864b823b1735 303 led3=0;
namikosaito 2:864b823b1735 304 led4=1;
namikosaito 2:864b823b1735 305 */
namikosaito 2:864b823b1735 306 }
namikosaito 2:864b823b1735 307 else if(sa_dh<yw&&f<-2){
namikosaito 2:864b823b1735 308 out=naka-300;
namikosaito 2:864b823b1735 309 /* led1=1;
namikosaito 2:864b823b1735 310 led2=0;
namikosaito 2:864b823b1735 311 led3=0;
namikosaito 2:864b823b1735 312 led4=0;*/
namikosaito 2:864b823b1735 313 }
namikosaito 2:864b823b1735 314 }
namikosaito 2:864b823b1735 315
namikosaito 1:f9c953ddc87a 316 if(kyori_dh>600&&kyori_dh<900){out-=75;led1=1;}
namikosaito 1:f9c953ddc87a 317 else if(kyori_dh>1200&&kyori_dh<1700){out+=25;led2=1;}
namikosaito 1:f9c953ddc87a 318 else if(kyori_dh>1700&&kyori_dh<2800){out+=75;led3=1;}
namikosaito 1:f9c953ddc87a 319 else{
namikosaito 0:77188ca200ce 320 led1=0;
namikosaito 0:77188ca200ce 321 led2=0;
namikosaito 0:77188ca200ce 322 led3=0;
namikosaito 0:77188ca200ce 323 }
namikosaito 1:f9c953ddc87a 324 /*
namikosaito 0:77188ca200ce 325 if(kyori_dh<600){
namikosaito 1:f9c953ddc87a 326 out-=50;
namikosaito 0:77188ca200ce 327 }
namikosaito 0:77188ca200ce 328
namikosaito 0:77188ca200ce 329 else if(kyori_dh>600&&kyori_dh<900){
namikosaito 0:77188ca200ce 330 led3=1;
namikosaito 1:f9c953ddc87a 331 out-=100;
namikosaito 0:77188ca200ce 332 if((white_r==0&&white_mr==0&&white_l==0&&white_ml==0&&white_m==0)||sa_dh<yw){
namikosaito 0:77188ca200ce 333 out=1300;
namikosaito 0:77188ca200ce 334 out-=(yw-sa_dh)*0.15;
namikosaito 0:77188ca200ce 335 }
namikosaito 0:77188ca200ce 336 }
namikosaito 0:77188ca200ce 337
namikosaito 0:77188ca200ce 338 else if(kyori_dh>1200&&kyori_dh<1700){
namikosaito 0:77188ca200ce 339 out+=50;
namikosaito 0:77188ca200ce 340 }
namikosaito 0:77188ca200ce 341
namikosaito 0:77188ca200ce 342 else if(kyori_dh>1700&&kyori_dh<2700){
namikosaito 0:77188ca200ce 343 led3=1;
namikosaito 0:77188ca200ce 344 out+=180;
namikosaito 0:77188ca200ce 345 if((white_r==0&&white_mr==0&&white_l==0&&white_ml==0&&white_m==0)||sa_dh<yw){
namikosaito 0:77188ca200ce 346 out=1900;
namikosaito 0:77188ca200ce 347 out+=(yw-sa_dh)*0.15;
namikosaito 0:77188ca200ce 348 }
namikosaito 0:77188ca200ce 349 }
namikosaito 1:f9c953ddc87a 350 */
namikosaito 0:77188ca200ce 351 /*
namikosaito 0:77188ca200ce 352 if((kyori_dh>2000&&kyori_dh<2700&&(white_r==0&&white_mr==0&&white_m==0))||((kyori_dh>2200&&kyori_dh<2700)&&fixed_rot_data>15)){
namikosaito 0:77188ca200ce 353 while(1){
namikosaito 0:77188ca200ce 354 LF();
namikosaito 0:77188ca200ce 355 lf_downhill();
namikosaito 0:77188ca200ce 356 out=2100;
namikosaito 0:77188ca200ce 357 if(fixed_rot_data<0)out=2000;
namikosaito 0:77188ca200ce 358 if(fixed_rot_data<-15)out=1900;
namikosaito 0:77188ca200ce 359 if(fixed_rot_data<-30)out=1700;
namikosaito 0:77188ca200ce 360 servo.pulsewidth_us(out);
namikosaito 0:77188ca200ce 361 if((white_r==1||white_l==1||white_mr==1||white_ml==1||white_m==1)||sa_dh>yw)break;
namikosaito 0:77188ca200ce 362 }
namikosaito 0:77188ca200ce 363 }
namikosaito 0:77188ca200ce 364 */
namikosaito 0:77188ca200ce 365 save_servo();
namikosaito 0:77188ca200ce 366 servo.pulsewidth_us(out);
namikosaito 0:77188ca200ce 367 }
namikosaito 0:77188ca200ce 368
namikosaito 0:77188ca200ce 369 #endif
namikosaito 0:77188ca200ce 370
namikosaito 0:77188ca200ce 371 }
namikosaito 0:77188ca200ce 372
namikosaito 0:77188ca200ce 373
namikosaito 0:77188ca200ce 374
namikosaito 0:77188ca200ce 375
namikosaito 0:77188ca200ce 376 //////////////////////////////////////////////////////////
namikosaito 0:77188ca200ce 377 int river_turn(void){
namikosaito 0:77188ca200ce 378 static int ritu,ritu_flag;
namikosaito 0:77188ca200ce 379 ritu=0;
namikosaito 0:77188ca200ce 380 ritu_flag=0;
namikosaito 0:77188ca200ce 381 if(s1-s12>bw&&s1-s11>bw)ritu++;
namikosaito 0:77188ca200ce 382 if(s2-s12>bw&&s2-s11>bw)ritu++;
namikosaito 0:77188ca200ce 383 if(s3-s12>bw&&s3-s11>bw)ritu++;
namikosaito 0:77188ca200ce 384 if(s4-s12>bw&&s4-s11>bw)ritu++;
namikosaito 0:77188ca200ce 385 if(s5-s12>bw&&s5-s11>bw)ritu++;
namikosaito 0:77188ca200ce 386
namikosaito 0:77188ca200ce 387 if(ritu>3)ritu_flag=1;
namikosaito 0:77188ca200ce 388 //pc.printf("ritu=%d",ritu);
namikosaito 0:77188ca200ce 389
namikosaito 0:77188ca200ce 390 return ritu_flag;
namikosaito 0:77188ca200ce 391 }
namikosaito 0:77188ca200ce 392
namikosaito 0:77188ca200ce 393 int lf_downhill(void){
namikosaito 0:77188ca200ce 394 /*cdsの値の最大*/
namikosaito 0:77188ca200ce 395 max_dh=s1;
namikosaito 0:77188ca200ce 396 if(max_dh<s2)max_dh=s2;
namikosaito 0:77188ca200ce 397 if(max_dh<s3)max_dh=s3;
namikosaito 0:77188ca200ce 398 if(max_dh<s4)max_dh=s4;
namikosaito 0:77188ca200ce 399 if(max_dh<s5)max_dh=s5;
namikosaito 0:77188ca200ce 400 if(max_dh<s6)max_dh=s6;
namikosaito 0:77188ca200ce 401 if(max_dh<s7)max_dh=s7;
namikosaito 0:77188ca200ce 402 if(max_dh<s8)max_dh=s8;
namikosaito 0:77188ca200ce 403 if(max_dh<s9)max_dh=s9;
namikosaito 0:77188ca200ce 404 if(max_dh<s10)max_dh=s10;
namikosaito 0:77188ca200ce 405 if(max_dh<s11)max_dh=s11;
namikosaito 0:77188ca200ce 406 if(max_dh<s12)max_dh=s12;
namikosaito 0:77188ca200ce 407
namikosaito 0:77188ca200ce 408 /*cdsの値の最小*/
namikosaito 0:77188ca200ce 409 min_dh=s1;
namikosaito 0:77188ca200ce 410 if(min_dh>s2)min_dh=s2;
namikosaito 0:77188ca200ce 411 if(min_dh>s3)min_dh=s3;
namikosaito 0:77188ca200ce 412 if(min_dh>s4)min_dh=s4;
namikosaito 0:77188ca200ce 413 if(min_dh>s5)min_dh=s5;
namikosaito 0:77188ca200ce 414 if(min_dh>s6)min_dh=s6;
namikosaito 0:77188ca200ce 415 if(min_dh>s7)min_dh=s7;
namikosaito 0:77188ca200ce 416 if(min_dh>s8)min_dh=s8;
namikosaito 0:77188ca200ce 417 if(min_dh>s9)min_dh=s9;
namikosaito 0:77188ca200ce 418 if(min_dh>s10)min_dh=s10;
namikosaito 0:77188ca200ce 419 if(min_dh>s11)min_dh=s11;
namikosaito 0:77188ca200ce 420 if(min_dh>s12)min_dh=s12;
namikosaito 0:77188ca200ce 421
namikosaito 0:77188ca200ce 422 sa_dh=max_dh-min_dh;
namikosaito 0:77188ca200ce 423 return sa_dh;
namikosaito 0:77188ca200ce 424 }
namikosaito 0:77188ca200ce 425
namikosaito 0:77188ca200ce 426 void back_cds(void){ //ｃｄｓでラインのどちらにずれたのか検知する。
namikosaito 0:77188ca200ce 427 Find_White();
namikosaito 0:77188ca200ce 428
namikosaito 0:77188ca200ce 429 static int back_cds_l,back_cds_l2,back_cds_r,back_cds_r2,flag_loop;
namikosaito 0:77188ca200ce 430
namikosaito 0:77188ca200ce 431 if(now==-3||now==-4){
namikosaito 0:77188ca200ce 432 back_cds_l=0;
namikosaito 0:77188ca200ce 433 back_cds_r=1;
namikosaito 0:77188ca200ce 434 }
namikosaito 0:77188ca200ce 435 if(back_cds_r==1&&(now==-5||now==-6)){
namikosaito 0:77188ca200ce 436 back_cds_r2=1;
namikosaito 0:77188ca200ce 437 back_cds_r=0;
namikosaito 0:77188ca200ce 438 }
namikosaito 0:77188ca200ce 439
namikosaito 1:f9c953ddc87a 440 if(back_cds_r2==1&&now!=-6&&now!=-5){
namikosaito 0:77188ca200ce 441 while(1){
namikosaito 0:77188ca200ce 442 LF();
namikosaito 0:77188ca200ce 443 gyro_keisan();
namikosaito 0:77188ca200ce 444 lf_downhill();
namikosaito 0:77188ca200ce 445 Find_White(); //いらないはず
namikosaito 0:77188ca200ce 446 // out=1100;
namikosaito 0:77188ca200ce 447 pc.printf("hidari now %d\r\n",now);
namikosaito 0:77188ca200ce 448 out=1100;
namikosaito 0:77188ca200ce 449 save_servo();
namikosaito 0:77188ca200ce 450 servo.pulsewidth_us(out);
namikosaito 0:77188ca200ce 451 judge_color();
namikosaito 0:77188ca200ce 452 field();
namikosaito 0:77188ca200ce 453 if(now==-6)flag_loop=1;
namikosaito 0:77188ca200ce 454 if((flag_loop==1&&(now==-4||now==-5))||white_mr==1||white_m==1){
namikosaito 0:77188ca200ce 455 back_cds_r2=0;
namikosaito 0:77188ca200ce 456 flag_loop=0;
namikosaito 0:77188ca200ce 457 break;
namikosaito 0:77188ca200ce 458 }
namikosaito 1:f9c953ddc87a 459 }
namikosaito 1:f9c953ddc87a 460
namikosaito 1:f9c953ddc87a 461 if(now==3||now==4){
namikosaito 1:f9c953ddc87a 462 back_cds_l=1;
namikosaito 1:f9c953ddc87a 463 back_cds_r=0;
namikosaito 1:f9c953ddc87a 464 }
namikosaito 1:f9c953ddc87a 465
namikosaito 1:f9c953ddc87a 466 if(back_cds_l==1&&(now==5||now==6)){
namikosaito 1:f9c953ddc87a 467 back_cds_l=0;
namikosaito 1:f9c953ddc87a 468 back_cds_l2=1;
namikosaito 1:f9c953ddc87a 469 }
namikosaito 1:f9c953ddc87a 470
namikosaito 1:f9c953ddc87a 471 if(back_cds_l2==1&&now!=6&&now!=5){
namikosaito 1:f9c953ddc87a 472 while(1){
namikosaito 1:f9c953ddc87a 473 LF();
namikosaito 1:f9c953ddc87a 474 gyro_keisan();
namikosaito 1:f9c953ddc87a 475 Find_White();
namikosaito 1:f9c953ddc87a 476 lf_downhill();
namikosaito 1:f9c953ddc87a 477 pc.printf("migi now=%d\r\n",now);
namikosaito 1:f9c953ddc87a 478 out=2100;
namikosaito 1:f9c953ddc87a 479 save_servo();
namikosaito 1:f9c953ddc87a 480 servo.pulsewidth_us(out);//1900
namikosaito 1:f9c953ddc87a 481 judge_color();
namikosaito 1:f9c953ddc87a 482 field();
namikosaito 1:f9c953ddc87a 483 if(now==6)flag_loop=1;
namikosaito 1:f9c953ddc87a 484 if((flag_loop==1&&(now==4||now==5))||white_ml==1||white_m==1){ //調べて
namikosaito 1:f9c953ddc87a 485 back_cds_l2=0;
namikosaito 1:f9c953ddc87a 486 flag_loop=0;
namikosaito 1:f9c953ddc87a 487 break;
namikosaito 1:f9c953ddc87a 488 }
namikosaito 1:f9c953ddc87a 489 }
namikosaito 1:f9c953ddc87a 490 }
namikosaito 1:f9c953ddc87a 491 }
namikosaito 1:f9c953ddc87a 492 }
namikosaito 1:f9c953ddc87a 493
namikosaito 1:f9c953ddc87a 494
namikosaito 1:f9c953ddc87a 495 void back_cds_dh(void){ //ｃｄｓでラインのどちらにずれたのか検知する。
namikosaito 1:f9c953ddc87a 496 Find_White();
namikosaito 1:f9c953ddc87a 497
namikosaito 1:f9c953ddc87a 498 static int back_cds_l,back_cds_l2,back_cds_r,back_cds_r2,flag_loop;
namikosaito 1:f9c953ddc87a 499 if(kyori_dh>50){
namikosaito 1:f9c953ddc87a 500 static int f;
namikosaito 1:f9c953ddc87a 501 if(sa_dh>yw+50){
namikosaito 1:f9c953ddc87a 502 f=now;
namikosaito 1:f9c953ddc87a 503 }
namikosaito 1:f9c953ddc87a 504 else if(sa_dh<yw&&f>2){
namikosaito 1:f9c953ddc87a 505 out=naka+300;
namikosaito 1:f9c953ddc87a 506 }
namikosaito 1:f9c953ddc87a 507 else if(sa_dh<yw&&f<-2){
namikosaito 1:f9c953ddc87a 508 out=naka-300;
namikosaito 1:f9c953ddc87a 509 }
namikosaito 1:f9c953ddc87a 510 }
namikosaito 1:f9c953ddc87a 511
namikosaito 1:f9c953ddc87a 512 if(now==-3||now==-4){
namikosaito 1:f9c953ddc87a 513 back_cds_l=0;
namikosaito 1:f9c953ddc87a 514 back_cds_r=1;
namikosaito 1:f9c953ddc87a 515 }
namikosaito 1:f9c953ddc87a 516 if(back_cds_r==1&&(now==-5||now==-6)){
namikosaito 1:f9c953ddc87a 517 back_cds_r2=1;
namikosaito 1:f9c953ddc87a 518 back_cds_r=0;
namikosaito 1:f9c953ddc87a 519 }
namikosaito 1:f9c953ddc87a 520
namikosaito 1:f9c953ddc87a 521 if(back_cds_r2==1&&now!=-6&&now!=-5){//||(downhill==1&&sa_dh<yw)){//||(white_r==0&&white_l==0&&white_mr==0&&white_ml==0&&white_m==0)||sa_dh<yw){ //変更
namikosaito 1:f9c953ddc87a 522 while(1){
namikosaito 1:f9c953ddc87a 523 LF();
namikosaito 1:f9c953ddc87a 524 gyro_keisan();
namikosaito 1:f9c953ddc87a 525 lf_downhill();
namikosaito 1:f9c953ddc87a 526 Find_White(); //いらないはず
namikosaito 1:f9c953ddc87a 527 // out=1100;
namikosaito 1:f9c953ddc87a 528 pc.printf("hidari now %d\r\n",now);
namikosaito 1:f9c953ddc87a 529 out=1100;
namikosaito 1:f9c953ddc87a 530 save_servo();
namikosaito 1:f9c953ddc87a 531 servo.pulsewidth_us(out);
namikosaito 1:f9c953ddc87a 532 judge_color();
namikosaito 1:f9c953ddc87a 533 field();
namikosaito 1:f9c953ddc87a 534 if(now==-6)flag_loop=1;
namikosaito 1:f9c953ddc87a 535 if((flag_loop==1&&(now==-4||now==-5))||white_mr==1||white_m==1){
namikosaito 1:f9c953ddc87a 536 back_cds_r2=0;
namikosaito 1:f9c953ddc87a 537 flag_loop=0;
namikosaito 1:f9c953ddc87a 538 break;
namikosaito 1:f9c953ddc87a 539 }
namikosaito 1:f9c953ddc87a 540
namikosaito 1:f9c953ddc87a 541 if(downhill==1){
namikosaito 0:77188ca200ce 542 static int yw_flag;
namikosaito 0:77188ca200ce 543 if(sa_dh>yw)yw_flag++;
namikosaito 0:77188ca200ce 544 if(yw_flag>10){
namikosaito 0:77188ca200ce 545 yw_flag=0;
namikosaito 0:77188ca200ce 546 back_cds_r2=0;
namikosaito 0:77188ca200ce 547 flag_loop=0;
namikosaito 1:f9c953ddc87a 548 break;}
namikosaito 1:f9c953ddc87a 549 }
namikosaito 0:77188ca200ce 550 }
namikosaito 0:77188ca200ce 551 }
namikosaito 0:77188ca200ce 552
namikosaito 0:77188ca200ce 553 if(now==3||now==4){
namikosaito 0:77188ca200ce 554 back_cds_l=1;
namikosaito 0:77188ca200ce 555 back_cds_r=0;
namikosaito 0:77188ca200ce 556 }
namikosaito 0:77188ca200ce 557
namikosaito 0:77188ca200ce 558 if(back_cds_l==1&&(now==5||now==6)){
namikosaito 0:77188ca200ce 559 back_cds_l=0;
namikosaito 0:77188ca200ce 560 back_cds_l2=1;
namikosaito 0:77188ca200ce 561 }
namikosaito 0:77188ca200ce 562
namikosaito 1:f9c953ddc87a 563 if(back_cds_l2==1&&now!=6&&now!=5){//||(downhill==1&&sa_dh<yw)){//||(white_r==0&&white_l==0&&white_mr==0&&white_ml==0&&white_m==0)||sa_dh<yw){
namikosaito 0:77188ca200ce 564 while(1){
namikosaito 0:77188ca200ce 565 LF();
namikosaito 0:77188ca200ce 566 gyro_keisan();
namikosaito 0:77188ca200ce 567 Find_White();
namikosaito 0:77188ca200ce 568 lf_downhill();
namikosaito 0:77188ca200ce 569 pc.printf("migi now=%d\r\n",now);
namikosaito 0:77188ca200ce 570 out=2100;
namikosaito 0:77188ca200ce 571 save_servo();
namikosaito 0:77188ca200ce 572 servo.pulsewidth_us(out);//1900
namikosaito 0:77188ca200ce 573 judge_color();
namikosaito 0:77188ca200ce 574 field();
namikosaito 0:77188ca200ce 575 if(now==6)flag_loop=1;
namikosaito 0:77188ca200ce 576 if((flag_loop==1&&(now==4||now==5))||white_ml==1||white_m==1){ //調べて
namikosaito 0:77188ca200ce 577 back_cds_l2=0;
namikosaito 0:77188ca200ce 578 flag_loop=0;
namikosaito 0:77188ca200ce 579 break;
namikosaito 0:77188ca200ce 580 }
namikosaito 1:f9c953ddc87a 581
namikosaito 1:f9c953ddc87a 582 if(downhill==1){
namikosaito 0:77188ca200ce 583 static int yw_flag;
namikosaito 0:77188ca200ce 584 if(sa_dh>yw)yw_flag++;
namikosaito 0:77188ca200ce 585 if(yw_flag>10){
namikosaito 0:77188ca200ce 586 back_cds_l2=0;
namikosaito 0:77188ca200ce 587 flag_loop=0;
namikosaito 0:77188ca200ce 588 yw_flag=0;
namikosaito 1:f9c953ddc87a 589 break;}
namikosaito 1:f9c953ddc87a 590 }
namikosaito 0:77188ca200ce 591 }
namikosaito 0:77188ca200ce 592 }
namikosaito 1:f9c953ddc87a 593 }
namikosaito 1:f9c953ddc87a 594
namikosaito 1:f9c953ddc87a 595
namikosaito 0:77188ca200ce 596
namikosaito 0:77188ca200ce 597 void back(void){ //エンコーダーとジャイロで左右を見分ける方法（使ってない）
namikosaito 0:77188ca200ce 598 if(white_mr==1){
namikosaito 0:77188ca200ce 599 back_l_flag=0;
namikosaito 0:77188ca200ce 600 back_r_flag=1;
namikosaito 0:77188ca200ce 601 }
namikosaito 0:77188ca200ce 602 if(back_r_flag==1&&white_r==1){
namikosaito 0:77188ca200ce 603 while(1){
namikosaito 0:77188ca200ce 604 if((rg_count==0&&gr_count==0)||(rg_count==2&&gr_count==2))yoko=kyori_15x;
namikosaito 0:77188ca200ce 605 if((rg_count==0&&gr_count==1)||(rg_count==1&&gr_count==2))yoko=kyori_30x;
namikosaito 0:77188ca200ce 606 if(rg_count==1&&gr_count==1)yoko=kyori_45x;
namikosaito 0:77188ca200ce 607
namikosaito 0:77188ca200ce 608
namikosaito 0:77188ca200ce 609 out=1300;
namikosaito 0:77188ca200ce 610 pc.printf("hidari %d\r\n",out);
namikosaito 0:77188ca200ce 611 servo.pulsewidth_us(out);
namikosaito 0:77188ca200ce 612 judge_color();
namikosaito 0:77188ca200ce 613 field();
namikosaito 0:77188ca200ce 614 if(white_ml==1||white_l==1||white_m==1){
namikosaito 0:77188ca200ce 615 back_r_flag=0;
namikosaito 0:77188ca200ce 616 break;
namikosaito 0:77188ca200ce 617 }
namikosaito 0:77188ca200ce 618 static int yoko_flag;
namikosaito 0:77188ca200ce 619 if(yoko<-5)yoko_flag=2;
namikosaito 0:77188ca200ce 620 if(yoko_flag==2&&yoko>0)break;
namikosaito 0:77188ca200ce 621 if(yoko>5)yoko_flag=3;
namikosaito 0:77188ca200ce 622 if(yoko_flag==3&&yoko<0)break;
namikosaito 0:77188ca200ce 623 }
namikosaito 0:77188ca200ce 624 }
namikosaito 0:77188ca200ce 625
namikosaito 0:77188ca200ce 626 if(white_ml==1){
namikosaito 0:77188ca200ce 627 back_r_flag=0;
namikosaito 0:77188ca200ce 628 back_l_flag=1;
namikosaito 0:77188ca200ce 629 }
namikosaito 0:77188ca200ce 630 if(back_l_flag==1&&white_l==1){
namikosaito 0:77188ca200ce 631 while(1){
namikosaito 0:77188ca200ce 632
namikosaito 0:77188ca200ce 633 if((rg_count==0&&gr_count==0)||(rg_count==2&&gr_count==2))yoko=kyori_15x;
namikosaito 0:77188ca200ce 634 if((rg_count==0&&gr_count==1)||(rg_count==1&&gr_count==2))yoko=kyori_30x;
namikosaito 0:77188ca200ce 635 if(rg_count==1&&gr_count==1)yoko=kyori_45x;
namikosaito 0:77188ca200ce 636
namikosaito 0:77188ca200ce 637 out=1700;
namikosaito 0:77188ca200ce 638 pc.printf("migi %d\r\n",out);
namikosaito 0:77188ca200ce 639 servo.pulsewidth_us(out);
namikosaito 0:77188ca200ce 640 judge_color();
namikosaito 0:77188ca200ce 641 field();
namikosaito 0:77188ca200ce 642 if(white_mr==1||white_r==1||white_m==1){
namikosaito 0:77188ca200ce 643 back_r_flag=0;
namikosaito 0:77188ca200ce 644 break;
namikosaito 0:77188ca200ce 645 }
namikosaito 0:77188ca200ce 646 static int yoko_flag;
namikosaito 0:77188ca200ce 647 if(yoko<-5)yoko_flag=2;
namikosaito 0:77188ca200ce 648 if(yoko_flag==2&&yoko>0)break;
namikosaito 0:77188ca200ce 649 if(yoko>5)yoko_flag=3;
namikosaito 0:77188ca200ce 650 if(yoko_flag==3&&yoko<0)break;
namikosaito 0:77188ca200ce 651 }
namikosaito 0:77188ca200ce 652 }
namikosaito 0:77188ca200ce 653 }
namikosaito 0:77188ca200ce 654
namikosaito 0:77188ca200ce 655
namikosaito 0:77188ca200ce 656 void field(void){ //上りにおいてフィールドの色を判断し、数えていく。
namikosaito 0:77188ca200ce 657 judge_color();
namikosaito 0:77188ca200ce 658
namikosaito 0:77188ca200ce 659 if((white_r==1||white_l==1||white_mr==1||white_ml==1||white_m==1)&&downhill==0)kyori_reset();
namikosaito 0:77188ca200ce 660 if((gr_flag_1==1&&red==1&&kyori_nobori>500)||(start_flag==1&&red==1)){
namikosaito 0:77188ca200ce 661 gr_flag_2=1;
namikosaito 0:77188ca200ce 662 }
namikosaito 0:77188ca200ce 663 if(gr_flag_2==1){
namikosaito 0:77188ca200ce 664 kyori_nobori_reset();
namikosaito 0:77188ca200ce 665 start_flag=0;
namikosaito 0:77188ca200ce 666 gr_flag_1=0;
namikosaito 0:77188ca200ce 667 gr_flag_2=0;
namikosaito 0:77188ca200ce 668 rg_flag_1=1;
namikosaito 0:77188ca200ce 669 gr_count++;
namikosaito 0:77188ca200ce 670 }
namikosaito 0:77188ca200ce 671 if(blue==1&&rg_flag_1==1&&kyori_nobori>500){
namikosaito 0:77188ca200ce 672 rg_flag_2=1;
namikosaito 0:77188ca200ce 673 }
namikosaito 0:77188ca200ce 674 if(rg_flag_2==1){
namikosaito 0:77188ca200ce 675 kyori_nobori_reset();
namikosaito 0:77188ca200ce 676 rg_flag_1=0;
namikosaito 0:77188ca200ce 677 rg_flag_2=0;
namikosaito 0:77188ca200ce 678 gr_flag_1=1;
namikosaito 0:77188ca200ce 679 rg_count++;
namikosaito 0:77188ca200ce 680 }
namikosaito 0:77188ca200ce 681 }