akira yamada
測距しながらライントレースをします 障害物があるとよけます
Dependencies: SonicDist beep_sound mbed
Revision 0:683329e79e99, committed 2016-12-10
- Comitter:
- natuga117
- Date:
- Sat Dec 10 10:00:11 2016 +0000
- Commit message:
- ??????????????????;
Changed in this revision
diff -r 000000000000 -r 683329e79e99 SonicDist.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/SonicDist.lib Sat Dec 10 10:00:11 2016 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/natuga117/code/SonicDist/#4a171a80f085
diff -r 000000000000 -r 683329e79e99 beep_sound.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/beep_sound.lib Sat Dec 10 10:00:11 2016 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/RBH/code/beep_sound/#f2b80b003d6d
diff -r 000000000000 -r 683329e79e99 main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Sat Dec 10 10:00:11 2016 +0000
@@ -0,0 +1,110 @@
+#include "mbed.h"
+#include "SonicDist.h"
+#include "beep_sound.h"
+#define TH 0.2
+DigitalOut myled(LED1);
+SonicDist dist(D9,A3);
+DigitalIn sw1(D4);
+DigitalIn sw2(D5);
+DigitalOut led1 (A1);
+DigitalOut led2 (A0);
+beep_sound sp(D10);
+PwmOut Ain1(PA_11);
+PwmOut Ain2(PC_6);
+PwmOut Bin1(PC_8);
+PwmOut Bin2(PC_9);
+AnalogIn LineL(PB_1);
+AnalogIn LineC(PC_5);
+DigitalOut ledL(PB_13);
+DigitalOut ledC(PB_14);
+DigitalOut ledR(PB_15);
+AnalogIn LineR(PC_2);
+void move(double mA,double mB);
+void brake(void);
+int main()
+{
+
+ double buf;
+ buf=dist.read();
+ wait(0.4);
+ while(!sw1) {
+ printf("%lf,%lf,%lf,(%lf)\n",(double)LineL,(double)LineC,(double)LineR,dist.read());
+ }
+
+ while(1) {
+ buf=dist.read();
+ if(buf<5) {
+ move(0,0);
+ wait(1);
+ move(1,-1);
+ wait(0.5);
+ move(1,1);
+ wait(0.5);
+ move(-1,1);
+ wait(0.5);
+ move(1,1);
+ wait(1);
+ move(-1,1);
+ wait(0.5);
+ move(1,1);
+ while((double)LineC<TH){
+ printf("%lf,%lf,%lf,(%lf)\n",(double)LineL,(double)LineC,(double)LineR,dist.read());
+ }
+ move(0.5,0.5);
+ wait(0.5);
+ while(1) {
+ move(1,-1);
+ if((double)LineC>TH) {
+ led1=1;
+ } else {
+ led1=0;
+ }
+ if((double)LineC>TH) {
+ move(0,0);
+ break;
+ }
+ }
+ } else {
+ if((double)LineC>TH) {
+ move(0.8,0.8);
+ if((double)LineC>0.7) {
+ led2=1;
+ sp.beep_right(1);
+ move(0,0);
+ wait(1);
+ move(0.8,-0.8);
+ wait(0.5);
+ while((double)LineC<TH);
+ } else {
+ led2=0;
+ }
+ } else {
+ if((double)LineR>TH) {
+ move(0.8,0.4);
+ } else if((double)LineL>TH) {
+ move(0.4,0.8);
+ }
+ }
+ }
+ //if(buf<20)sp.beep_right(1);
+ //printf("%lfcm\n", buf);
+
+ }
+}
+void move(double mA,double mB)
+{
+ if(mA<0) {
+ Ain2=1;
+ Ain1=1+mA;
+ } else {
+ Ain2=1-mA;
+ Ain1=1;
+ }
+ if(mB<0) {
+ Bin2=1;
+ Bin1=1+mB;
+ } else {
+ Bin2=1-mB;
+ Bin1=1;
+ }
+}
diff -r 000000000000 -r 683329e79e99 mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Sat Dec 10 10:00:11 2016 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/d75b3fe1f5cb \ No newline at end of file