nakao kanaki / Mbed 2 deprecated Eco_ziguzagu

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Dependencies:   mbed

Files at this revision

API Documentation at this revision

Revision 11:bf37710355ff, committed 2016-03-23

Comitter:
kanakin
Date:
Wed Mar 23 16:31:20 2016 +0000
Parent:
10:82f5a6e95dc2
Commit message:
ziguzagu

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/main.cpp	Wed Mar 09 15:44:32 2016 +0000
+++ b/main.cpp	Wed Mar 23 16:31:20 2016 +0000
@@ -9,8 +9,8 @@
 //#define SLOPE
 //#define TURN
 //#define RIVER 
-//#define RIVER2
-#define DOWNHILL 
+#define RIVER2
+//#define DOWNHILL 
 
 
 /*白との差*/
@@ -51,6 +51,79 @@
 
 int river_fin;
 
+int sikii=2000; //cdsの青と白の閾値
+int ko=0;
+
+int alpha;
+int out_alpha;
+
+
+//int max_dasi(void){
+    /*cdsの値の最大*/
+  /*  max_dh=1;
+    if(max_dh<s2)max_dh=2;
+    if(max_dh<s3)max_dh=3;
+    if(max_dh<s4)max_dh=4;
+    if(max_dh<s5)max_dh=5;
+    if(max_dh<s6)max_dh=6;
+    if(max_dh<s7)max_dh=7;
+    if(max_dh<s8)max_dh=8;
+    if(max_dh<s9)max_dh=9;
+    if(max_dh<s10)max_dh=10;
+    if(max_dh<s11)max_dh=11;
+    if(max_dh<s12)max_dh=12;
+    return max_dh;
+    }*/
+
+//ジャイロ使わないとき
+/*int hidari_magari1(void){
+    gyro_keisan();
+    kosuu();
+    if(ko=){
+        if(s1>sikii){
+            if(s2>sikii)}
+    }
+    */
+//ジャイロ使うとき
+void hidari_magari(){   //最大値がある側とは逆側の端のcdsが白になったら曲がる
+   
+   if(now==-1||now==-2||now==-3||now==-4||now==-5||now==-6){
+        alpha=-45-fixed_rot_data;    
+        out_alpha=alpha*5;//出力5で1度.１度で出力５
+        out=naka-out_alpha+90*5+100;
+        } 
+    if(now==1||now==2||now==3||now==4||now==5||now==6){
+        alpha=-45-fixed_rot_data;
+        out_alpha=alpha*5;
+        out=naka-out_alpha+90*5+100;
+    }
+}    
+
+void migi_magari(){
+  if(now==-1||now==-2||now==-3||now==-4||now==-5||now==-6){
+        alpha=-135-fixed_rot_data;    
+        out_alpha=alpha*5;
+        out=naka-out_alpha-90*5-150;   
+        }
+  if(now==1||now==2||now==3||now==4||now==5||now==6){
+        alpha=-135-fixed_rot_data;
+        out_alpha=alpha*5;
+        out=naka-out_alpha-90*5-150;
+        }    
+}
+
+
+int kosuu(){
+    int ko;
+    if(s3>sikii&&s4>sikii&&s5>sikii)ko=3;
+    else if(s4>sikii&&s5>sikii&&s6>sikii)ko=4;
+    else if(s5>sikii&&s6>sikii&&s7>sikii)ko=5;
+    else if(s6>sikii&&s7>sikii&&s8>sikii)ko=6;
+    else if(s7>sikii&&s8>sikii&&s9>sikii)ko=7;    
+    else if(s8>sikii&&s9>sikii&&s10>sikii)ko=8;    
+     return ko;
+         }
+
 ///////////////////////////////////////////////////////////////////////////////////////////////
 
 
@@ -65,13 +138,13 @@
     
 /*キャリブレーション*/
     calibration();
-    while(1){if(push_switch==1)break;}
+    //while(1){if(push_switch==1)break;}
     
     /*ファイル*/
-    if(switch_1==0){
+  /*  if(switch_1==0){
       //if ( NULL == (fp = fopen( "/local/test.csv", "w" )) )error( "" );
       file=1;
-    }
+    }*/
 /*    
 if(switch_1==0&&switch_2==1&&switch_3==1){  //最初から
     #define SLOPE
@@ -270,6 +343,117 @@
          }
 
 #endif
+///////////////////////////////////////////////////////////////////////////////////    
+#ifdef RIVER2
+
+/*       blue_led=1;
+       yellow_pin=0;   
+while(1){   //ライントレース
+        judge_color();
+        static int river_start;
+        river_start++;
+        if(river_start<10)blue=0;
+        LF();
+        //out-=50;
+        servo.pulsewidth_us(out);*/
+        /*if(file==1)fprintf(fp,*///pc.printf("blue=%d, river kyori_m45=%f,theta=%d linetrace\r\n",blue,kyori_m45,fixed_rot_data);
+     /*   if(file==1&&switch_1==1)fclose( fp );
+        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);
+        
+        if(blue==1){    //青になったらリバースタート
+            river_flag=1;
+            blue_led=0;
+            out=naka-250;
+            servo.pulsewidth_us(out);
+            led1=1;
+            break;
+        }
+        }
+        */ 
+/*1*/
+       //while(1){
+           gyro_keisan();
+         //  LF();
+       pc.printf("%d,||out=%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d\r\n",fixed_rot_data,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12);
+       //}
+       wait(10);
+      while(1){
+          gyro_keisan();
+          LF();
+          pc.printf("%d,s1=%d\n\r",fixed_rot_data,s1);
+          //kosuu();
+          //max_dasi();
+          //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);
+          //migi_magari();
+         while(s12>sikii){
+          hidari_magari();
+          servo.pulsewidth_us(out);
+          //pc.printf("%d||%d\n\r",out,fixed_rot_data);
+          pc.printf("%d||out=%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d\r\n",fixed_rot_data,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12);
+              if(fixed_rot_data>-140&&fixed_rot_data<-130){break;}}
+          if(fixed_rot_data>-140&&fixed_rot_data<-130){led1=1;break;}    
+        
+     }     
+/*2*/
+     while(1){
+         gyro_keisan();
+         LF();
+         pc.printf("%d,s10=%d,s11=%d,s12=%d\n\r",fixed_rot_data,s10,s11,s12);
+        // max_dasi();
+         //hidari_magari();
+         //kosuu();
+         while(s1>sikii){
+         migi_magari();
+         servo.pulsewidth_us(out);
+         //pc.printf("%d||%d\n\r",out,fixed_rot_data);
+         pc.printf("%d||out=%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d\r\n",fixed_rot_data,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12);
+          if(fixed_rot_data>-60&&fixed_rot_data<-35){break;}}    
+    if(fixed_rot_data>-60&&fixed_rot_data<-35){led2=1;break;}
+    }
+/*3*/    
+     while(1){
+          gyro_keisan();
+          LF();
+          pc.printf("%d,s1=%d\n\r",fixed_rot_data,s1);
+          //max_dasi();
+          //kosuu();
+          while(s12>sikii){
+          hidari_magari();
+          servo.pulsewidth_us(out);
+          //pc.printf("%d||%d\n\r",out,fixed_rot_data);
+          pc.printf("%d||out=%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d\r\n",fixed_rot_data,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12);
+            if(fixed_rot_data>-145&&fixed_rot_data<-125){break;}}  
+    if(fixed_rot_data>-145&&fixed_rot_data<-125){
+
+     led3=1;break;}
+     }
+/*4*/    
+     while(1){
+         gyro_keisan();
+         LF();
+         pc.printf("%d,s10=%d,s11=%d,s12=%d\n\r",fixed_rot_data,s10,s11,s12);
+         //max_dasi();
+         while(s1>sikii){
+         migi_magari();
+         servo.pulsewidth_us(out);
+         //pc.printf("%d||%d\n\r",out,fixed_rot_data);
+         pc.printf("%d||out=%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d\r\n",fixed_rot_data,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12);
+    if(fixed_rot_data>-55&&fixed_rot_data<-35){break;}}
+    if(fixed_rot_data>-55&&fixed_rot_data<-35){led4=1;break;}
+    }
+/*5*/
+     while(1){
+       gyro_keisan();
+       LF();
+       judge_color();
+       
+       if(red==1){kyori_reset(); led1=0;
+        led2=0;
+        led3=0;
+        led4=0;
+        break;}
+   }
+#endif
 
 ////////////////////////////////////////////////////////////////////////////