nakao kanaki
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Eco_ziguzagu
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main.cpp@0:77188ca200ce, 2016-02-24 (annotated)
- Committer:
- namikosaito
- Date:
- Wed Feb 24 04:23:37 2016 +0000
- Revision:
- 0:77188ca200ce
- Child:
- 1:f9c953ddc87a
2_24gyro_pid
Who changed what in which revision?
| User | Revision | Line number | New 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 | 0:77188ca200ce | 8 | //#define SLOPE |
| namikosaito | 0:77188ca200ce | 9 | //#define TURN |
| namikosaito | 0:77188ca200ce | 10 | #define RIVER |
| namikosaito | 0:77188ca200ce | 11 | //#define RIVER2 |
| namikosaito | 0:77188ca200ce | 12 | #define DOWNHILL |
| namikosaito | 0:77188ca200ce | 13 | |
| namikosaito | 0:77188ca200ce | 14 | /*白との差*/ |
| namikosaito | 0:77188ca200ce | 15 | #define bw 550 //blueとwhite |
| namikosaito | 0:77188ca200ce | 16 | #define yw 200 //yellow ちょっと厳しめにすること。 |
| namikosaito | 0:77188ca200ce | 17 | |
| namikosaito | 0:77188ca200ce | 18 | Serial pc(USBTX, USBRX); |
| namikosaito | 0:77188ca200ce | 19 | PwmOut servo(p25); |
| namikosaito | 0:77188ca200ce | 20 | PwmOut blue_led(p21); |
| namikosaito | 0:77188ca200ce | 21 | |
| namikosaito | 0:77188ca200ce | 22 | void save_servo(void){ //サーボの振れすぎを防ぐ。 |
| namikosaito | 0:77188ca200ce | 23 | if(out>2250)out=2250; |
| namikosaito | 0:77188ca200ce | 24 | else if(out<650)out=650; |
| namikosaito | 0:77188ca200ce | 25 | } |
| namikosaito | 0:77188ca200ce | 26 | |
| namikosaito | 0:77188ca200ce | 27 | |
| namikosaito | 0:77188ca200ce | 28 | /*関数*/ |
| namikosaito | 0:77188ca200ce | 29 | void field(void); //フィールドの色を見る |
| namikosaito | 0:77188ca200ce | 30 | int wr_flag,wl_flag; |
| namikosaito | 0:77188ca200ce | 31 | 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 | 32 | int sa_dh,max_dh,min_dh; //lf_downhillで使う変数。 |
| namikosaito | 0:77188ca200ce | 33 | 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 | 0:77188ca200ce | 34 | void back_cds(void); //同上（ｃｄｓ） |
| namikosaito | 0:77188ca200ce | 35 | 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 | 36 | |
| namikosaito | 0:77188ca200ce | 37 | int back_r_flag=0; |
| namikosaito | 0:77188ca200ce | 38 | int back_l_flag=0; |
| namikosaito | 0:77188ca200ce | 39 | |
| namikosaito | 0:77188ca200ce | 40 | float yoko; //上りラインに対しての左右の振れ |
| namikosaito | 0:77188ca200ce | 41 | int kakudo; |
| namikosaito | 0:77188ca200ce | 42 | |
| namikosaito | 0:77188ca200ce | 43 | int downhill; //ダウンヒルのとき１になる。 |
| namikosaito | 0:77188ca200ce | 44 | |
| namikosaito | 0:77188ca200ce | 45 | int start_flag=1; //fieldで使用 |
| namikosaito | 0:77188ca200ce | 46 | int rg_flag_1,rg_flag_2,rg_count=0; |
| namikosaito | 0:77188ca200ce | 47 | int gr_flag_1,gr_flag_2,gr_count=0; |
| namikosaito | 0:77188ca200ce | 48 | |
| namikosaito | 0:77188ca200ce | 49 | /////////////////////////////////////////////////////////////////////////////////////////////// |
| namikosaito | 0:77188ca200ce | 50 | |
| namikosaito | 0:77188ca200ce | 51 | |
| namikosaito | 0:77188ca200ce | 52 | int main(){ |
| namikosaito | 0:77188ca200ce | 53 | mcp.format(7,0); |
| namikosaito | 0:77188ca200ce | 54 | mcp.frequency(1000000); |
| namikosaito | 0:77188ca200ce | 55 | pc.baud(115200); |
| namikosaito | 0:77188ca200ce | 56 | gyro.format(16,3); |
| namikosaito | 0:77188ca200ce | 57 | Enc.attach(&distance, sp_t); |
| namikosaito | 0:77188ca200ce | 58 | servo.period_ms(20); //サーボ周期 |
| namikosaito | 0:77188ca200ce | 59 | servo.pulsewidth_us(naka); |
| namikosaito | 0:77188ca200ce | 60 | |
| namikosaito | 0:77188ca200ce | 61 | blue_led=1; |
| namikosaito | 0:77188ca200ce | 62 | |
| namikosaito | 0:77188ca200ce | 63 | /*キャリブレーション*/ |
| namikosaito | 0:77188ca200ce | 64 | calibration(); |
| namikosaito | 0:77188ca200ce | 65 | |
| namikosaito | 0:77188ca200ce | 66 | /*スイッチ切り替え*/ |
| namikosaito | 0:77188ca200ce | 67 | /* |
| namikosaito | 0:77188ca200ce | 68 | if(switch_1==0&&switch_2==0&&switch_3==0){ //最初から |
| namikosaito | 0:77188ca200ce | 69 | #define SLOPE |
| namikosaito | 0:77188ca200ce | 70 | #define TURN |
| namikosaito | 0:77188ca200ce | 71 | #define RIVER |
| namikosaito | 0:77188ca200ce | 72 | #define DOWNHILL |
| namikosaito | 0:77188ca200ce | 73 | } |
| namikosaito | 0:77188ca200ce | 74 | |
| namikosaito | 0:77188ca200ce | 75 | if(switch_1==1&&switch_2==0&&switch_3==0){ //リバーから |
| namikosaito | 0:77188ca200ce | 76 | #define RIVER |
| namikosaito | 0:77188ca200ce | 77 | #define DOWNHILL |
| namikosaito | 0:77188ca200ce | 78 | } |
| namikosaito | 0:77188ca200ce | 79 | |
| namikosaito | 0:77188ca200ce | 80 | if(switch_1==1&&switch_2==1&&switch_3==0){ //ダウンヒルから |
| namikosaito | 0:77188ca200ce | 81 | #define DOWNHILL |
| namikosaito | 0:77188ca200ce | 82 | } |
| namikosaito | 0:77188ca200ce | 83 | */ |
| namikosaito | 0:77188ca200ce | 84 | |
| namikosaito | 0:77188ca200ce | 85 | #ifdef SLOPE |
| namikosaito | 0:77188ca200ce | 86 | while(1){ |
| namikosaito | 0:77188ca200ce | 87 | //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 | 0:77188ca200ce | 88 | pc.printf("out=%d,dir=%d,sa=%f,now=%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d\r\n",out,dir,sa,now,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12); |
| namikosaito | 0:77188ca200ce | 89 | //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 | 90 | field(); |
| namikosaito | 0:77188ca200ce | 91 | LF(); |
| namikosaito | 0:77188ca200ce | 92 | //back(); |
| namikosaito | 0:77188ca200ce | 93 | //back_cds(); |
| namikosaito | 0:77188ca200ce | 94 | save_servo(); |
| namikosaito | 0:77188ca200ce | 95 | servo.pulsewidth_us(out); |
| namikosaito | 0:77188ca200ce | 96 | |
| namikosaito | 0:77188ca200ce | 97 | if(rg_count==0&&gr_count==1)led1=1; |
| namikosaito | 0:77188ca200ce | 98 | if(rg_count==1&&gr_count==1)led2=1; |
| namikosaito | 0:77188ca200ce | 99 | if(rg_count==1&&gr_count==2)led3=1; |
| namikosaito | 0:77188ca200ce | 100 | if(rg_count==2&&gr_count==2)led4=1; |
| namikosaito | 0:77188ca200ce | 101 | if(rg_count==2&&gr_count==3){ |
| namikosaito | 0:77188ca200ce | 102 | led1=0; |
| namikosaito | 0:77188ca200ce | 103 | led2=0; |
| namikosaito | 0:77188ca200ce | 104 | led3=0; |
| namikosaito | 0:77188ca200ce | 105 | led4=0; |
| namikosaito | 0:77188ca200ce | 106 | break; |
| namikosaito | 0:77188ca200ce | 107 | } |
| namikosaito | 0:77188ca200ce | 108 | } |
| namikosaito | 0:77188ca200ce | 109 | #endif |
| namikosaito | 0:77188ca200ce | 110 | |
| namikosaito | 0:77188ca200ce | 111 | ///////////////////////////////////////////////////////////////////////////////////// |
| namikosaito | 0:77188ca200ce | 112 | |
| namikosaito | 0:77188ca200ce | 113 | #ifdef TURN |
| namikosaito | 0:77188ca200ce | 114 | |
| namikosaito | 0:77188ca200ce | 115 | while(1){ |
| namikosaito | 0:77188ca200ce | 116 | //gyro_keisan(); |
| namikosaito | 0:77188ca200ce | 117 | out=1750; |
| namikosaito | 0:77188ca200ce | 118 | servo.pulsewidth_us(out); |
| namikosaito | 0:77188ca200ce | 119 | led4=1; |
| namikosaito | 0:77188ca200ce | 120 | if(fixed_rot_data<-60)break; |
| namikosaito | 0:77188ca200ce | 121 | } |
| namikosaito | 0:77188ca200ce | 122 | |
| namikosaito | 0:77188ca200ce | 123 | while(1){ |
| namikosaito | 0:77188ca200ce | 124 | judge_color(); |
| namikosaito | 0:77188ca200ce | 125 | led3=1; |
| namikosaito | 0:77188ca200ce | 126 | if(white_l==1||white_r==1||white_mr==1||white_ml==1||white_m==1)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 | 0:77188ca200ce | 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 | 0:77188ca200ce | 187 | out=gyro_pid(-90-phai,7,0,5); |
| 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 | 0:77188ca200ce | 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 | 0:77188ca200ce | 223 | pc.printf("%f,%d,%d\r\n",kyori_m90,Ec_count,out); |
| namikosaito | 0:77188ca200ce | 224 | |
| namikosaito | 0:77188ca200ce | 225 | if(kyori_m90>T)break; //行き過ぎ |
| namikosaito | 0:77188ca200ce | 226 | if(white_r==1||white_l==1||white_mr==1||white_ml==1||white_m==1||sa_dh>bw){ //白線検知 |
| namikosaito | 0:77188ca200ce | 227 | break; |
| namikosaito | 0:77188ca200ce | 228 | } |
| namikosaito | 0:77188ca200ce | 229 | } |
| namikosaito | 0:77188ca200ce | 230 | |
| namikosaito | 0:77188ca200ce | 231 | if(kyori_m90>T){ |
| namikosaito | 0:77188ca200ce | 232 | servo.pulsewidth_us(1100); |
| namikosaito | 0:77188ca200ce | 233 | wait(0.5); |
| namikosaito | 0:77188ca200ce | 234 | } |
| namikosaito | 0:77188ca200ce | 235 | |
| namikosaito | 0:77188ca200ce | 236 | /*5*/ |
| namikosaito | 0:77188ca200ce | 237 | while(1){ //ライントレースに戻る |
| namikosaito | 0:77188ca200ce | 238 | gyro_keisan(); |
| namikosaito | 0:77188ca200ce | 239 | LF(); |
| namikosaito | 0:77188ca200ce | 240 | back_cds(); |
| namikosaito | 0:77188ca200ce | 241 | out-=50; |
| namikosaito | 0:77188ca200ce | 242 | if(fixed_rot_data<-45)out-=50; |
| namikosaito | 0:77188ca200ce | 243 | if(fixed_rot_data<-75)out-=100; |
| namikosaito | 0:77188ca200ce | 244 | |
| namikosaito | 0:77188ca200ce | 245 | servo.pulsewidth_us(out); |
| namikosaito | 0:77188ca200ce | 246 | judge_color(); |
| namikosaito | 0:77188ca200ce | 247 | led1=0; |
| namikosaito | 0:77188ca200ce | 248 | led2=0; |
| namikosaito | 0:77188ca200ce | 249 | led3=0; |
| namikosaito | 0:77188ca200ce | 250 | led4=0; |
| namikosaito | 0:77188ca200ce | 251 | if(red==1){kyori_reset();break;} |
| namikosaito | 0:77188ca200ce | 252 | } |
| namikosaito | 0:77188ca200ce | 253 | |
| namikosaito | 0:77188ca200ce | 254 | #endif |
| namikosaito | 0:77188ca200ce | 255 | |
| namikosaito | 0:77188ca200ce | 256 | //////////////////////////////////////////////////////////////////////////// |
| namikosaito | 0:77188ca200ce | 257 | |
| namikosaito | 0:77188ca200ce | 258 | #ifdef DOWNHILL |
| namikosaito | 0:77188ca200ce | 259 | |
| namikosaito | 0:77188ca200ce | 260 | while(1){ |
| namikosaito | 0:77188ca200ce | 261 | static int q; |
| namikosaito | 0:77188ca200ce | 262 | q++; |
| namikosaito | 0:77188ca200ce | 263 | 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 | 264 | judge_color(); |
| namikosaito | 0:77188ca200ce | 265 | LF(); |
| namikosaito | 0:77188ca200ce | 266 | back_cds(); |
| namikosaito | 0:77188ca200ce | 267 | servo.pulsewidth_us(out); |
| namikosaito | 0:77188ca200ce | 268 | if(yellow==1&&q>30){ //黄色に入る |
| namikosaito | 0:77188ca200ce | 269 | kyori_reset(); |
| namikosaito | 0:77188ca200ce | 270 | blue_led=1; |
| namikosaito | 0:77188ca200ce | 271 | downhill=1; |
| namikosaito | 0:77188ca200ce | 272 | break; |
| namikosaito | 0:77188ca200ce | 273 | } |
| namikosaito | 0:77188ca200ce | 274 | } |
| namikosaito | 0:77188ca200ce | 275 | |
| namikosaito | 0:77188ca200ce | 276 | while(1){ |
| namikosaito | 0:77188ca200ce | 277 | LF(); |
| namikosaito | 0:77188ca200ce | 278 | lf_downhill(); |
| namikosaito | 0:77188ca200ce | 279 | judge_color(); |
| namikosaito | 0:77188ca200ce | 280 | back_cds(); |
| namikosaito | 0:77188ca200ce | 281 | 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 | 282 | |
| namikosaito | 0:77188ca200ce | 283 | //gyro_keisan(); |
| namikosaito | 0:77188ca200ce | 284 | |
| namikosaito | 0:77188ca200ce | 285 | if(kyori_dh>50){ |
| namikosaito | 0:77188ca200ce | 286 | static int f; |
| namikosaito | 0:77188ca200ce | 287 | if(sa_dh>yw+50){ |
| namikosaito | 0:77188ca200ce | 288 | f=now; |
| namikosaito | 0:77188ca200ce | 289 | led1=0; |
| namikosaito | 0:77188ca200ce | 290 | led2=1; |
| namikosaito | 0:77188ca200ce | 291 | led3=0; |
| namikosaito | 0:77188ca200ce | 292 | led4=0; |
| namikosaito | 0:77188ca200ce | 293 | } |
| namikosaito | 0:77188ca200ce | 294 | else if(sa_dh<yw&&f>2){ |
| namikosaito | 0:77188ca200ce | 295 | out=1800; |
| namikosaito | 0:77188ca200ce | 296 | led1=0; |
| namikosaito | 0:77188ca200ce | 297 | led2=0; |
| namikosaito | 0:77188ca200ce | 298 | led3=0; |
| namikosaito | 0:77188ca200ce | 299 | led4=1; |
| namikosaito | 0:77188ca200ce | 300 | } |
| namikosaito | 0:77188ca200ce | 301 | else if(sa_dh<yw&&f<-2){ |
| namikosaito | 0:77188ca200ce | 302 | out=1200; |
| namikosaito | 0:77188ca200ce | 303 | led1=1; |
| namikosaito | 0:77188ca200ce | 304 | led2=0; |
| namikosaito | 0:77188ca200ce | 305 | led3=0; |
| namikosaito | 0:77188ca200ce | 306 | led4=0; |
| namikosaito | 0:77188ca200ce | 307 | } |
| namikosaito | 0:77188ca200ce | 308 | } |
| namikosaito | 0:77188ca200ce | 309 | |
| namikosaito | 0:77188ca200ce | 310 | |
| namikosaito | 0:77188ca200ce | 311 | |
| namikosaito | 0:77188ca200ce | 312 | if(kyori_dh<600){ |
| namikosaito | 0:77188ca200ce | 313 | out-=100; |
| namikosaito | 0:77188ca200ce | 314 | } |
| namikosaito | 0:77188ca200ce | 315 | |
| namikosaito | 0:77188ca200ce | 316 | else if(kyori_dh>600&&kyori_dh<900){ |
| namikosaito | 0:77188ca200ce | 317 | led3=1; |
| namikosaito | 0:77188ca200ce | 318 | out-=120; |
| namikosaito | 0:77188ca200ce | 319 | if((white_r==0&&white_mr==0&&white_l==0&&white_ml==0&&white_m==0)||sa_dh<yw){ |
| namikosaito | 0:77188ca200ce | 320 | out=1300; |
| namikosaito | 0:77188ca200ce | 321 | out-=(yw-sa_dh)*0.15; |
| namikosaito | 0:77188ca200ce | 322 | } |
| namikosaito | 0:77188ca200ce | 323 | } |
| namikosaito | 0:77188ca200ce | 324 | |
| namikosaito | 0:77188ca200ce | 325 | else if(kyori_dh>1200&&kyori_dh<1700){ |
| namikosaito | 0:77188ca200ce | 326 | out+=50; |
| namikosaito | 0:77188ca200ce | 327 | } |
| namikosaito | 0:77188ca200ce | 328 | |
| namikosaito | 0:77188ca200ce | 329 | else if(kyori_dh>1700&&kyori_dh<2700){ |
| namikosaito | 0:77188ca200ce | 330 | led3=1; |
| namikosaito | 0:77188ca200ce | 331 | out+=180; |
| 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=1900; |
| 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 | /* |
| namikosaito | 0:77188ca200ce | 339 | 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 | 340 | while(1){ |
| namikosaito | 0:77188ca200ce | 341 | LF(); |
| namikosaito | 0:77188ca200ce | 342 | lf_downhill(); |
| namikosaito | 0:77188ca200ce | 343 | out=2100; |
| namikosaito | 0:77188ca200ce | 344 | if(fixed_rot_data<0)out=2000; |
| namikosaito | 0:77188ca200ce | 345 | if(fixed_rot_data<-15)out=1900; |
| namikosaito | 0:77188ca200ce | 346 | if(fixed_rot_data<-30)out=1700; |
| namikosaito | 0:77188ca200ce | 347 | servo.pulsewidth_us(out); |
| namikosaito | 0:77188ca200ce | 348 | if((white_r==1||white_l==1||white_mr==1||white_ml==1||white_m==1)||sa_dh>yw)break; |
| namikosaito | 0:77188ca200ce | 349 | } |
| namikosaito | 0:77188ca200ce | 350 | } |
| namikosaito | 0:77188ca200ce | 351 | */ |
| namikosaito | 0:77188ca200ce | 352 | save_servo(); |
| namikosaito | 0:77188ca200ce | 353 | servo.pulsewidth_us(out); |
| namikosaito | 0:77188ca200ce | 354 | } |
| namikosaito | 0:77188ca200ce | 355 | |
| namikosaito | 0:77188ca200ce | 356 | #endif |
| namikosaito | 0:77188ca200ce | 357 | |
| namikosaito | 0:77188ca200ce | 358 | } |
| namikosaito | 0:77188ca200ce | 359 | |
| namikosaito | 0:77188ca200ce | 360 | |
| namikosaito | 0:77188ca200ce | 361 | |
| namikosaito | 0:77188ca200ce | 362 | |
| namikosaito | 0:77188ca200ce | 363 | ////////////////////////////////////////////////////////// |
| namikosaito | 0:77188ca200ce | 364 | int river_turn(void){ |
| namikosaito | 0:77188ca200ce | 365 | static int ritu,ritu_flag; |
| namikosaito | 0:77188ca200ce | 366 | ritu=0; |
| namikosaito | 0:77188ca200ce | 367 | ritu_flag=0; |
| namikosaito | 0:77188ca200ce | 368 | if(s1-s12>bw&&s1-s11>bw)ritu++; |
| namikosaito | 0:77188ca200ce | 369 | if(s2-s12>bw&&s2-s11>bw)ritu++; |
| namikosaito | 0:77188ca200ce | 370 | if(s3-s12>bw&&s3-s11>bw)ritu++; |
| namikosaito | 0:77188ca200ce | 371 | if(s4-s12>bw&&s4-s11>bw)ritu++; |
| namikosaito | 0:77188ca200ce | 372 | if(s5-s12>bw&&s5-s11>bw)ritu++; |
| namikosaito | 0:77188ca200ce | 373 | |
| namikosaito | 0:77188ca200ce | 374 | if(ritu>3)ritu_flag=1; |
| namikosaito | 0:77188ca200ce | 375 | //pc.printf("ritu=%d",ritu); |
| namikosaito | 0:77188ca200ce | 376 | |
| namikosaito | 0:77188ca200ce | 377 | return ritu_flag; |
| namikosaito | 0:77188ca200ce | 378 | } |
| namikosaito | 0:77188ca200ce | 379 | |
| namikosaito | 0:77188ca200ce | 380 | int lf_downhill(void){ |
| namikosaito | 0:77188ca200ce | 381 | /*cdsの値の最大*/ |
| namikosaito | 0:77188ca200ce | 382 | max_dh=s1; |
| namikosaito | 0:77188ca200ce | 383 | if(max_dh<s2)max_dh=s2; |
| namikosaito | 0:77188ca200ce | 384 | if(max_dh<s3)max_dh=s3; |
| namikosaito | 0:77188ca200ce | 385 | if(max_dh<s4)max_dh=s4; |
| namikosaito | 0:77188ca200ce | 386 | if(max_dh<s5)max_dh=s5; |
| namikosaito | 0:77188ca200ce | 387 | if(max_dh<s6)max_dh=s6; |
| namikosaito | 0:77188ca200ce | 388 | if(max_dh<s7)max_dh=s7; |
| namikosaito | 0:77188ca200ce | 389 | if(max_dh<s8)max_dh=s8; |
| namikosaito | 0:77188ca200ce | 390 | if(max_dh<s9)max_dh=s9; |
| namikosaito | 0:77188ca200ce | 391 | if(max_dh<s10)max_dh=s10; |
| namikosaito | 0:77188ca200ce | 392 | if(max_dh<s11)max_dh=s11; |
| namikosaito | 0:77188ca200ce | 393 | if(max_dh<s12)max_dh=s12; |
| namikosaito | 0:77188ca200ce | 394 | |
| namikosaito | 0:77188ca200ce | 395 | /*cdsの値の最小*/ |
| namikosaito | 0:77188ca200ce | 396 | min_dh=s1; |
| namikosaito | 0:77188ca200ce | 397 | if(min_dh>s2)min_dh=s2; |
| namikosaito | 0:77188ca200ce | 398 | if(min_dh>s3)min_dh=s3; |
| namikosaito | 0:77188ca200ce | 399 | if(min_dh>s4)min_dh=s4; |
| namikosaito | 0:77188ca200ce | 400 | if(min_dh>s5)min_dh=s5; |
| namikosaito | 0:77188ca200ce | 401 | if(min_dh>s6)min_dh=s6; |
| namikosaito | 0:77188ca200ce | 402 | if(min_dh>s7)min_dh=s7; |
| namikosaito | 0:77188ca200ce | 403 | if(min_dh>s8)min_dh=s8; |
| namikosaito | 0:77188ca200ce | 404 | if(min_dh>s9)min_dh=s9; |
| namikosaito | 0:77188ca200ce | 405 | if(min_dh>s10)min_dh=s10; |
| namikosaito | 0:77188ca200ce | 406 | if(min_dh>s11)min_dh=s11; |
| namikosaito | 0:77188ca200ce | 407 | if(min_dh>s12)min_dh=s12; |
| namikosaito | 0:77188ca200ce | 408 | |
| namikosaito | 0:77188ca200ce | 409 | sa_dh=max_dh-min_dh; |
| namikosaito | 0:77188ca200ce | 410 | return sa_dh; |
| namikosaito | 0:77188ca200ce | 411 | } |
| namikosaito | 0:77188ca200ce | 412 | |
| namikosaito | 0:77188ca200ce | 413 | 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 | 414 | Find_White(); |
| namikosaito | 0:77188ca200ce | 415 | |
| namikosaito | 0:77188ca200ce | 416 | static int back_cds_l,back_cds_l2,back_cds_r,back_cds_r2,flag_loop; |
| namikosaito | 0:77188ca200ce | 417 | |
| namikosaito | 0:77188ca200ce | 418 | if(now==-3||now==-4){ |
| namikosaito | 0:77188ca200ce | 419 | back_cds_l=0; |
| namikosaito | 0:77188ca200ce | 420 | back_cds_r=1; |
| namikosaito | 0:77188ca200ce | 421 | } |
| namikosaito | 0:77188ca200ce | 422 | if(back_cds_r==1&&(now==-5||now==-6)){ |
| namikosaito | 0:77188ca200ce | 423 | back_cds_r2=1; |
| namikosaito | 0:77188ca200ce | 424 | back_cds_r=0; |
| namikosaito | 0:77188ca200ce | 425 | } |
| namikosaito | 0:77188ca200ce | 426 | |
| namikosaito | 0:77188ca200ce | 427 | if((back_cds_r2==1&&now!=-6&&now!=-5)||sa_dh<yw){//||(white_r==0&&white_l==0&&white_mr==0&&white_ml==0&&white_m==0)||sa_dh<yw){ //変更 |
| namikosaito | 0:77188ca200ce | 428 | while(1){ |
| namikosaito | 0:77188ca200ce | 429 | LF(); |
| namikosaito | 0:77188ca200ce | 430 | gyro_keisan(); |
| namikosaito | 0:77188ca200ce | 431 | lf_downhill(); |
| namikosaito | 0:77188ca200ce | 432 | Find_White(); //いらないはず |
| namikosaito | 0:77188ca200ce | 433 | // out=1100; |
| namikosaito | 0:77188ca200ce | 434 | pc.printf("hidari now %d\r\n",now); |
| namikosaito | 0:77188ca200ce | 435 | out=1100; |
| namikosaito | 0:77188ca200ce | 436 | save_servo(); |
| namikosaito | 0:77188ca200ce | 437 | servo.pulsewidth_us(out); |
| namikosaito | 0:77188ca200ce | 438 | judge_color(); |
| namikosaito | 0:77188ca200ce | 439 | field(); |
| namikosaito | 0:77188ca200ce | 440 | if(now==-6)flag_loop=1; |
| namikosaito | 0:77188ca200ce | 441 | if((flag_loop==1&&(now==-4||now==-5))||white_mr==1||white_m==1){ |
| namikosaito | 0:77188ca200ce | 442 | back_cds_r2=0; |
| namikosaito | 0:77188ca200ce | 443 | flag_loop=0; |
| namikosaito | 0:77188ca200ce | 444 | break; |
| namikosaito | 0:77188ca200ce | 445 | } |
| namikosaito | 0:77188ca200ce | 446 | static int yw_flag; |
| namikosaito | 0:77188ca200ce | 447 | if(sa_dh>yw)yw_flag++; |
| namikosaito | 0:77188ca200ce | 448 | if(yw_flag>10){ |
| namikosaito | 0:77188ca200ce | 449 | yw_flag=0; |
| namikosaito | 0:77188ca200ce | 450 | back_cds_r2=0; |
| namikosaito | 0:77188ca200ce | 451 | flag_loop=0; |
| namikosaito | 0:77188ca200ce | 452 | break;} |
| namikosaito | 0:77188ca200ce | 453 | } |
| namikosaito | 0:77188ca200ce | 454 | } |
| namikosaito | 0:77188ca200ce | 455 | |
| namikosaito | 0:77188ca200ce | 456 | if(now==3||now==4){ |
| namikosaito | 0:77188ca200ce | 457 | back_cds_l=1; |
| namikosaito | 0:77188ca200ce | 458 | back_cds_r=0; |
| namikosaito | 0:77188ca200ce | 459 | } |
| namikosaito | 0:77188ca200ce | 460 | |
| namikosaito | 0:77188ca200ce | 461 | if(back_cds_l==1&&(now==5||now==6)){ |
| namikosaito | 0:77188ca200ce | 462 | back_cds_l=0; |
| namikosaito | 0:77188ca200ce | 463 | back_cds_l2=1; |
| namikosaito | 0:77188ca200ce | 464 | } |
| namikosaito | 0:77188ca200ce | 465 | |
| namikosaito | 0:77188ca200ce | 466 | if((back_cds_l2==1&&now!=6&&now!=5)||sa_dh<yw){//||(white_r==0&&white_l==0&&white_mr==0&&white_ml==0&&white_m==0)||sa_dh<yw){ |
| namikosaito | 0:77188ca200ce | 467 | while(1){ |
| namikosaito | 0:77188ca200ce | 468 | LF(); |
| namikosaito | 0:77188ca200ce | 469 | gyro_keisan(); |
| namikosaito | 0:77188ca200ce | 470 | Find_White(); |
| namikosaito | 0:77188ca200ce | 471 | lf_downhill(); |
| namikosaito | 0:77188ca200ce | 472 | pc.printf("migi now=%d\r\n",now); |
| namikosaito | 0:77188ca200ce | 473 | out=2100; |
| namikosaito | 0:77188ca200ce | 474 | save_servo(); |
| namikosaito | 0:77188ca200ce | 475 | servo.pulsewidth_us(out);//1900 |
| namikosaito | 0:77188ca200ce | 476 | judge_color(); |
| namikosaito | 0:77188ca200ce | 477 | field(); |
| namikosaito | 0:77188ca200ce | 478 | if(now==6)flag_loop=1; |
| namikosaito | 0:77188ca200ce | 479 | if((flag_loop==1&&(now==4||now==5))||white_ml==1||white_m==1){ //調べて |
| namikosaito | 0:77188ca200ce | 480 | back_cds_l2=0; |
| namikosaito | 0:77188ca200ce | 481 | flag_loop=0; |
| namikosaito | 0:77188ca200ce | 482 | break; |
| namikosaito | 0:77188ca200ce | 483 | } |
| namikosaito | 0:77188ca200ce | 484 | static int yw_flag; |
| namikosaito | 0:77188ca200ce | 485 | if(sa_dh>yw)yw_flag++; |
| namikosaito | 0:77188ca200ce | 486 | if(yw_flag>10){ |
| namikosaito | 0:77188ca200ce | 487 | back_cds_l2=0; |
| namikosaito | 0:77188ca200ce | 488 | flag_loop=0; |
| namikosaito | 0:77188ca200ce | 489 | yw_flag=0; |
| namikosaito | 0:77188ca200ce | 490 | break;} |
| namikosaito | 0:77188ca200ce | 491 | } |
| namikosaito | 0:77188ca200ce | 492 | } |
| namikosaito | 0:77188ca200ce | 493 | } |
| namikosaito | 0:77188ca200ce | 494 | |
| namikosaito | 0:77188ca200ce | 495 | |
| namikosaito | 0:77188ca200ce | 496 | 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 | 497 | if(white_mr==1){ |
| namikosaito | 0:77188ca200ce | 498 | back_l_flag=0; |
| namikosaito | 0:77188ca200ce | 499 | back_r_flag=1; |
| namikosaito | 0:77188ca200ce | 500 | } |
| namikosaito | 0:77188ca200ce | 501 | if(back_r_flag==1&&white_r==1){ |
| namikosaito | 0:77188ca200ce | 502 | while(1){ |
| namikosaito | 0:77188ca200ce | 503 | if((rg_count==0&&gr_count==0)||(rg_count==2&&gr_count==2))yoko=kyori_15x; |
| namikosaito | 0:77188ca200ce | 504 | if((rg_count==0&&gr_count==1)||(rg_count==1&&gr_count==2))yoko=kyori_30x; |
| namikosaito | 0:77188ca200ce | 505 | if(rg_count==1&&gr_count==1)yoko=kyori_45x; |
| namikosaito | 0:77188ca200ce | 506 | |
| namikosaito | 0:77188ca200ce | 507 | |
| namikosaito | 0:77188ca200ce | 508 | out=1300; |
| namikosaito | 0:77188ca200ce | 509 | pc.printf("hidari %d\r\n",out); |
| namikosaito | 0:77188ca200ce | 510 | servo.pulsewidth_us(out); |
| namikosaito | 0:77188ca200ce | 511 | judge_color(); |
| namikosaito | 0:77188ca200ce | 512 | field(); |
| namikosaito | 0:77188ca200ce | 513 | if(white_ml==1||white_l==1||white_m==1){ |
| namikosaito | 0:77188ca200ce | 514 | back_r_flag=0; |
| namikosaito | 0:77188ca200ce | 515 | break; |
| namikosaito | 0:77188ca200ce | 516 | } |
| namikosaito | 0:77188ca200ce | 517 | static int yoko_flag; |
| namikosaito | 0:77188ca200ce | 518 | if(yoko<-5)yoko_flag=2; |
| namikosaito | 0:77188ca200ce | 519 | if(yoko_flag==2&&yoko>0)break; |
| namikosaito | 0:77188ca200ce | 520 | if(yoko>5)yoko_flag=3; |
| namikosaito | 0:77188ca200ce | 521 | if(yoko_flag==3&&yoko<0)break; |
| namikosaito | 0:77188ca200ce | 522 | } |
| namikosaito | 0:77188ca200ce | 523 | } |
| namikosaito | 0:77188ca200ce | 524 | |
| namikosaito | 0:77188ca200ce | 525 | if(white_ml==1){ |
| namikosaito | 0:77188ca200ce | 526 | back_r_flag=0; |
| namikosaito | 0:77188ca200ce | 527 | back_l_flag=1; |
| namikosaito | 0:77188ca200ce | 528 | } |
| namikosaito | 0:77188ca200ce | 529 | if(back_l_flag==1&&white_l==1){ |
| namikosaito | 0:77188ca200ce | 530 | while(1){ |
| namikosaito | 0:77188ca200ce | 531 | |
| namikosaito | 0:77188ca200ce | 532 | if((rg_count==0&&gr_count==0)||(rg_count==2&&gr_count==2))yoko=kyori_15x; |
| namikosaito | 0:77188ca200ce | 533 | if((rg_count==0&&gr_count==1)||(rg_count==1&&gr_count==2))yoko=kyori_30x; |
| namikosaito | 0:77188ca200ce | 534 | if(rg_count==1&&gr_count==1)yoko=kyori_45x; |
| namikosaito | 0:77188ca200ce | 535 | |
| namikosaito | 0:77188ca200ce | 536 | out=1700; |
| namikosaito | 0:77188ca200ce | 537 | pc.printf("migi %d\r\n",out); |
| namikosaito | 0:77188ca200ce | 538 | servo.pulsewidth_us(out); |
| namikosaito | 0:77188ca200ce | 539 | judge_color(); |
| namikosaito | 0:77188ca200ce | 540 | field(); |
| namikosaito | 0:77188ca200ce | 541 | if(white_mr==1||white_r==1||white_m==1){ |
| namikosaito | 0:77188ca200ce | 542 | back_r_flag=0; |
| namikosaito | 0:77188ca200ce | 543 | break; |
| namikosaito | 0:77188ca200ce | 544 | } |
| namikosaito | 0:77188ca200ce | 545 | static int yoko_flag; |
| namikosaito | 0:77188ca200ce | 546 | if(yoko<-5)yoko_flag=2; |
| namikosaito | 0:77188ca200ce | 547 | if(yoko_flag==2&&yoko>0)break; |
| namikosaito | 0:77188ca200ce | 548 | if(yoko>5)yoko_flag=3; |
| namikosaito | 0:77188ca200ce | 549 | if(yoko_flag==3&&yoko<0)break; |
| namikosaito | 0:77188ca200ce | 550 | } |
| namikosaito | 0:77188ca200ce | 551 | } |
| namikosaito | 0:77188ca200ce | 552 | } |
| namikosaito | 0:77188ca200ce | 553 | |
| namikosaito | 0:77188ca200ce | 554 | |
| namikosaito | 0:77188ca200ce | 555 | 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 | 556 | judge_color(); |
| namikosaito | 0:77188ca200ce | 557 | |
| namikosaito | 0:77188ca200ce | 558 | if((white_r==1||white_l==1||white_mr==1||white_ml==1||white_m==1)&&downhill==0)kyori_reset(); |
| namikosaito | 0:77188ca200ce | 559 | if((gr_flag_1==1&&red==1&&kyori_nobori>500)||(start_flag==1&&red==1)){ |
| namikosaito | 0:77188ca200ce | 560 | gr_flag_2=1; |
| namikosaito | 0:77188ca200ce | 561 | } |
| namikosaito | 0:77188ca200ce | 562 | if(gr_flag_2==1){ |
| namikosaito | 0:77188ca200ce | 563 | kyori_nobori_reset(); |
| namikosaito | 0:77188ca200ce | 564 | start_flag=0; |
| namikosaito | 0:77188ca200ce | 565 | gr_flag_1=0; |
| namikosaito | 0:77188ca200ce | 566 | gr_flag_2=0; |
| namikosaito | 0:77188ca200ce | 567 | rg_flag_1=1; |
| namikosaito | 0:77188ca200ce | 568 | gr_count++; |
| namikosaito | 0:77188ca200ce | 569 | } |
| namikosaito | 0:77188ca200ce | 570 | if(blue==1&&rg_flag_1==1&&kyori_nobori>500){ |
| namikosaito | 0:77188ca200ce | 571 | rg_flag_2=1; |
| namikosaito | 0:77188ca200ce | 572 | } |
| namikosaito | 0:77188ca200ce | 573 | if(rg_flag_2==1){ |
| namikosaito | 0:77188ca200ce | 574 | kyori_nobori_reset(); |
| namikosaito | 0:77188ca200ce | 575 | rg_flag_1=0; |
| namikosaito | 0:77188ca200ce | 576 | rg_flag_2=0; |
| namikosaito | 0:77188ca200ce | 577 | gr_flag_1=1; |
| namikosaito | 0:77188ca200ce | 578 | rg_count++; |
| namikosaito | 0:77188ca200ce | 579 | } |
| namikosaito | 0:77188ca200ce | 580 | } |