Dependencies: PID Serialservo TCS3200 XQ_servo encoder encoder2 mbed moter
Fork of nhk_2018_undercarry_test09 by
Diff: main.cpp
- Revision:
- 10:01aa50804d85
- Parent:
- 9:0c1fce6d8094
diff -r 0c1fce6d8094 -r 01aa50804d85 main.cpp --- a/main.cpp Sun Apr 08 09:56:29 2018 +0000 +++ b/main.cpp Sun Apr 15 00:36:15 2018 +0000 @@ -132,7 +132,7 @@ master.frequency(100000); lamp = 1.0; //-------初期化------------------------------------------------- - syokikanomai(); + syokikanomai();//初期位置 buzzer = 0; //-----------メインループ---------------------------------------- while (true) { @@ -149,12 +149,14 @@ x_dist = Enc_Carry_X.read_rotate(); y_dist = Enc_Carry_Y.read_rotate(); + + //PCからの命令 kbtpc.putc(state); if(kbtpc.readable()){ kbtread = kbtpc.getc(); } if(kbtread == 255){ - mode = true; + mode = true;// }else if(kbtread == 150){ mode = false; }else if(kbtread == 100){ @@ -281,7 +283,7 @@ }else if(crosscount == 1){ directmode = STOP; prelinedata = 0; - touteki(1.0,185,0); + touteki(1.0,RED_TOUTEKI,0); //syokikanomai2(); if(set_flag == false){ directmode = RIGHT; @@ -359,7 +361,7 @@ }else if(crosscount == 1){ directmode = STOP; prelinedata = 0; - touteki(1.0,190,1); + touteki(1.0,BLUE_TOUTEKI,1); //syokikanomai2(); if(set_flag == false){ directmode = RIGHT; @@ -386,7 +388,7 @@ if(yellow_throw_flag == false){ yellow_throwing(); }else{ - touteki(1.0,184,1.0); + touteki(1.0,YELLOW_TOUTEKI,1.0); syokikanomai2(); } } @@ -474,7 +476,7 @@ } if (syokika_flag==true) { - if(encoder_count == 165){ + if(encoder_count == SYOKIITI){ motor_pwm=0; motor_dir1=1; motor_dir2=1; @@ -505,8 +507,8 @@ } if(syokika_flag==true) { int set_pos; - if(yellow_throw_flag == true) set_pos = 165; - else set_pos = 165; + if(yellow_throw_flag == true) set_pos = YELLOW_SYOKIITI; + else set_pos = SYOKIITI; if(encoder_count == set_pos){ buzzer = 0.0; motor_pwm=0;