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Dependencies:   mbed-rtos mbed

main.cpp@7:1947b554f8e3, 2013-12-14 (annotated)

Committer:
nekoyyy
Date:
Sat Dec 14 07:03:16 2013 +0000
Revision:
7:1947b554f8e3
Parent:
3:c92e21f305d8
Child:
8:3eb58ae94a93
????

Who changed what in which revision?

UserRevisionLine numberNew contents of line
emilmont 1:491820ee784d 1 #include "mbed.h"
emilmont 1:491820ee784d 2 #include "rtos.h"
nekoyyy 7:1947b554f8e3 3
nekoyyy 7:1947b554f8e3 4 Serial pc(USBTX, USBRX);
nekoyyy 7:1947b554f8e3 5 PwmOut Kata(p21);
nekoyyy 7:1947b554f8e3 6 PwmOut Hiji(p22);
nekoyyy 7:1947b554f8e3 7 PwmOut Te(p23);
nekoyyy 7:1947b554f8e3 8 PwmOut Dou(p24);
nekoyyy 7:1947b554f8e3 9 PwmOut Asi(p25);
nekoyyy 7:1947b554f8e3 10
nekoyyy 7:1947b554f8e3 11 char c;
nekoyyy 7:1947b554f8e3 12
nekoyyy 7:1947b554f8e3 13 int zen=0;
nekoyyy 7:1947b554f8e3 14 int go=0;
nekoyyy 7:1947b554f8e3 15
nekoyyy 7:1947b554f8e3 16 int dousa=0;
nekoyyy 7:1947b554f8e3 17 int men=0;
nekoyyy 7:1947b554f8e3 18 int bou=0;
nekoyyy 7:1947b554f8e3 19 int tuk=0;
nekoyyy 7:1947b554f8e3 20 int dou=0;
nekoyyy 7:1947b554f8e3 21 int fei=1;
nekoyyy 7:1947b554f8e3 22
nekoyyy 7:1947b554f8e3 23 float homeK = 0.028f; //home pos 0.045-0.105
nekoyyy 7:1947b554f8e3 24 float homeH = 0.103f;
nekoyyy 7:1947b554f8e3 25 float homeT = 0.045f;
emilmont 1:491820ee784d 26
nekoyyy 7:1947b554f8e3 27 float henni(float a, float b){
nekoyyy 7:1947b554f8e3 28 float temp = a;
nekoyyy 7:1947b554f8e3 29 temp = b - a;
nekoyyy 7:1947b554f8e3 30 return (temp);
nekoyyy 7:1947b554f8e3 31 }
nekoyyy 7:1947b554f8e3 32
nekoyyy 7:1947b554f8e3 33 float maxof(float a, float b, float c){
nekoyyy 7:1947b554f8e3 34 float A = abs(a);
nekoyyy 7:1947b554f8e3 35 float B = abs(b);
nekoyyy 7:1947b554f8e3 36 float C = abs(c);
nekoyyy 7:1947b554f8e3 37 float max = A;
nekoyyy 7:1947b554f8e3 38 if (B >= max) max = B;
nekoyyy 7:1947b554f8e3 39 if (C >= max) max = C;
nekoyyy 7:1947b554f8e3 40 return (max);
nekoyyy 7:1947b554f8e3 41 }
nekoyyy 7:1947b554f8e3 42
nekoyyy 7:1947b554f8e3 43 void HANTEI(void const *argument) {
nekoyyy 7:1947b554f8e3 44 while(true){
nekoyyy 7:1947b554f8e3 45 switch(c){
nekoyyy 7:1947b554f8e3 46
nekoyyy 7:1947b554f8e3 47 default:
nekoyyy 7:1947b554f8e3 48 c=pc.getc();
nekoyyy 7:1947b554f8e3 49 break;
nekoyyy 7:1947b554f8e3 50
nekoyyy 7:1947b554f8e3 51 case'z':
nekoyyy 7:1947b554f8e3 52 zen=1;
nekoyyy 7:1947b554f8e3 53 c=0;
nekoyyy 7:1947b554f8e3 54 pc.printf("zen\n");
nekoyyy 7:1947b554f8e3 55 break;
nekoyyy 7:1947b554f8e3 56
nekoyyy 7:1947b554f8e3 57 case'n':
nekoyyy 7:1947b554f8e3 58 zen=0;
nekoyyy 7:1947b554f8e3 59 go=0;
nekoyyy 7:1947b554f8e3 60 c=0;
nekoyyy 7:1947b554f8e3 61 pc.printf("stop\n");
nekoyyy 7:1947b554f8e3 62 break;
nekoyyy 7:1947b554f8e3 63
nekoyyy 7:1947b554f8e3 64 case'g':
nekoyyy 7:1947b554f8e3 65 go=1;
nekoyyy 7:1947b554f8e3 66 c=0;
nekoyyy 7:1947b554f8e3 67 pc.printf("go\n");
nekoyyy 7:1947b554f8e3 68 break;
nekoyyy 7:1947b554f8e3 69
nekoyyy 7:1947b554f8e3 70 case'm':
nekoyyy 7:1947b554f8e3 71 if(dousa==0){
nekoyyy 7:1947b554f8e3 72 men=1;
nekoyyy 7:1947b554f8e3 73 dousa=1;
nekoyyy 7:1947b554f8e3 74 pc.printf("men\n");
nekoyyy 7:1947b554f8e3 75 }
nekoyyy 7:1947b554f8e3 76 c=0;
nekoyyy 7:1947b554f8e3 77 break;
nekoyyy 7:1947b554f8e3 78
nekoyyy 7:1947b554f8e3 79 case'b':
nekoyyy 7:1947b554f8e3 80 if(dousa==0){
nekoyyy 7:1947b554f8e3 81 bou=1;
nekoyyy 7:1947b554f8e3 82 dousa=1;
nekoyyy 7:1947b554f8e3 83 pc.printf("bou\n");
nekoyyy 7:1947b554f8e3 84 }
nekoyyy 7:1947b554f8e3 85 c=0;
nekoyyy 7:1947b554f8e3 86 break;
nekoyyy 7:1947b554f8e3 87
nekoyyy 7:1947b554f8e3 88 case't':
nekoyyy 7:1947b554f8e3 89 if(dousa==0){
nekoyyy 7:1947b554f8e3 90 tuk=1;
nekoyyy 7:1947b554f8e3 91 dousa=1;
nekoyyy 7:1947b554f8e3 92 pc.printf("tuk\n");
nekoyyy 7:1947b554f8e3 93 }
nekoyyy 7:1947b554f8e3 94 c=0;
nekoyyy 7:1947b554f8e3 95 break;
nekoyyy 7:1947b554f8e3 96
nekoyyy 7:1947b554f8e3 97 case'd':
nekoyyy 7:1947b554f8e3 98 if(dousa==0){
nekoyyy 7:1947b554f8e3 99 dou=1;
nekoyyy 7:1947b554f8e3 100 dousa=1;
nekoyyy 7:1947b554f8e3 101 pc.printf("dou\n");
nekoyyy 7:1947b554f8e3 102 }
nekoyyy 7:1947b554f8e3 103 c=0;
nekoyyy 7:1947b554f8e3 104 break;
nekoyyy 7:1947b554f8e3 105
nekoyyy 7:1947b554f8e3 106 case'f':
nekoyyy 7:1947b554f8e3 107 if((bou==0)&&(fei==1)&&(dousa==1)){
nekoyyy 7:1947b554f8e3 108 fei=2;
nekoyyy 7:1947b554f8e3 109 pc.printf("fei\n");
nekoyyy 7:1947b554f8e3 110 }
nekoyyy 7:1947b554f8e3 111 c=0;
nekoyyy 7:1947b554f8e3 112 break;
nekoyyy 7:1947b554f8e3 113
nekoyyy 7:1947b554f8e3 114 /*pc.printf("men=%d",men);
nekoyyy 7:1947b554f8e3 115 pc.printf("bou=%d",bou);
nekoyyy 7:1947b554f8e3 116 pc.printf("tuk=%d",tuk);
nekoyyy 7:1947b554f8e3 117 pc.printf("dou=%d",dou);
nekoyyy 7:1947b554f8e3 118 pc.printf("fei=%d\n",fei);
nekoyyy 7:1947b554f8e3 119 wait(0.5);*/
nekoyyy 7:1947b554f8e3 120 }
nekoyyy 7:1947b554f8e3 121 }
nekoyyy 7:1947b554f8e3 122 }
nekoyyy 7:1947b554f8e3 123
nekoyyy 7:1947b554f8e3 124 void ZENGO(void const *argument) {
nekoyyy 7:1947b554f8e3 125 Asi.period(0.00001);
nekoyyy 7:1947b554f8e3 126 while(true){
nekoyyy 7:1947b554f8e3 127 if(zen==1){
nekoyyy 7:1947b554f8e3 128 Asi.pulsewidth(0.00000f);
nekoyyy 7:1947b554f8e3 129 }
nekoyyy 7:1947b554f8e3 130 else if(go==1){
nekoyyy 7:1947b554f8e3 131 Asi.pulsewidth(0.00001f);
nekoyyy 7:1947b554f8e3 132 }
nekoyyy 7:1947b554f8e3 133 else{
nekoyyy 7:1947b554f8e3 134 Asi.pulsewidth(0.000005f);
nekoyyy 7:1947b554f8e3 135 }
nekoyyy 7:1947b554f8e3 136 }
nekoyyy 7:1947b554f8e3 137 }
nekoyyy 7:1947b554f8e3 138
nekoyyy 7:1947b554f8e3 139 void MEN(void const *argument) {
nekoyyy 7:1947b554f8e3 140 int i1=0;
nekoyyy 7:1947b554f8e3 141 float a1=0.055f; //sireiti
nekoyyy 7:1947b554f8e3 142 float b1=0.101f;
nekoyyy 7:1947b554f8e3 143 float c1=0.045f;
nekoyyy 7:1947b554f8e3 144 float max1 = maxof(henni(homeK,a1),henni(homeH,b1),henni(homeT,c1));
nekoyyy 7:1947b554f8e3 145 float t1 = max1 / (0.03f / 0.17f * 0.01f); //nannbyou kakeruka 60(0.03duty)/0.17 servo /0.02s
nekoyyy 7:1947b554f8e3 146
nekoyyy 7:1947b554f8e3 147
nekoyyy 7:1947b554f8e3 148 int i2=0;
nekoyyy 7:1947b554f8e3 149 float a2=0.028f; //sireiti
nekoyyy 7:1947b554f8e3 150 float b2=0.111f;
nekoyyy 7:1947b554f8e3 151 float c2=0.045f;
nekoyyy 7:1947b554f8e3 152 float max2 = maxof(henni(a1,a2),henni(b1,b2),henni(c1,c2));
nekoyyy 7:1947b554f8e3 153 float t2 = max2 / (0.03f / 0.17f * 0.01f); //nannbyou kakeruka 60(0.03duty)/0.17 servo /0.02s
nekoyyy 7:1947b554f8e3 154
emilmont 1:491820ee784d 155
nekoyyy 7:1947b554f8e3 156 while(true){
nekoyyy 7:1947b554f8e3 157 if(men==1){
nekoyyy 7:1947b554f8e3 158
nekoyyy 7:1947b554f8e3 159 switch(fei){
nekoyyy 7:1947b554f8e3 160 case 1: //men motion
nekoyyy 7:1947b554f8e3 161 i1=i1+1;
nekoyyy 7:1947b554f8e3 162 Kata = homeK + (a1 - homeK) / t1 * i1;
nekoyyy 7:1947b554f8e3 163 Hiji = homeH + (b1 - homeH) / t1 * i1;
nekoyyy 7:1947b554f8e3 164 Te = homeT + (c1 - homeT) / t1 * i1;
nekoyyy 7:1947b554f8e3 165 wait(0.022);
nekoyyy 7:1947b554f8e3 166 if(i1>t1){
nekoyyy 7:1947b554f8e3 167 fei=3;
nekoyyy 7:1947b554f8e3 168 }
nekoyyy 7:1947b554f8e3 169 break;
nekoyyy 7:1947b554f8e3 170
nekoyyy 7:1947b554f8e3 171 case 2: //feint
nekoyyy 7:1947b554f8e3 172 i1=i1-1;
nekoyyy 7:1947b554f8e3 173 Kata = homeK + (a1 - homeK) / t1 * i1;
nekoyyy 7:1947b554f8e3 174 Hiji = homeH + (b1 - homeH) / t1 * i1;
nekoyyy 7:1947b554f8e3 175 Te = homeT + (c1 - homeT) / t1 * i1;
nekoyyy 7:1947b554f8e3 176 wait(0.022);
nekoyyy 7:1947b554f8e3 177 if(i1<0){
nekoyyy 7:1947b554f8e3 178 fei=1;
nekoyyy 7:1947b554f8e3 179 men=0;
nekoyyy 7:1947b554f8e3 180 dousa=0;
nekoyyy 7:1947b554f8e3 181 i1=1;
nekoyyy 7:1947b554f8e3 182 }
nekoyyy 7:1947b554f8e3 183 break;
nekoyyy 7:1947b554f8e3 184
nekoyyy 7:1947b554f8e3 185 case 3: //men iki
nekoyyy 7:1947b554f8e3 186 i2=i2+1;
nekoyyy 7:1947b554f8e3 187 Kata = a1 + (a2 - a1) / t2 * i2;
nekoyyy 7:1947b554f8e3 188 Hiji = b1 + (b2 - b1) / t2 * i2;
nekoyyy 7:1947b554f8e3 189 Te = c1 + (c2 - c1) / t2 * i2;
nekoyyy 7:1947b554f8e3 190 wait(0.022);
nekoyyy 7:1947b554f8e3 191 if(i2>t2){
nekoyyy 7:1947b554f8e3 192 fei=4;
nekoyyy 7:1947b554f8e3 193 }
nekoyyy 7:1947b554f8e3 194 break;
nekoyyy 7:1947b554f8e3 195
nekoyyy 7:1947b554f8e3 196 case 4: //men kaeri
nekoyyy 7:1947b554f8e3 197 i2=i2-1;
nekoyyy 7:1947b554f8e3 198 Kata = a1 + (a2 - a1) / t2 * i2;
nekoyyy 7:1947b554f8e3 199 Hiji = b1 + (b2 - b1) / t2 * i2;
nekoyyy 7:1947b554f8e3 200 Te = c1+ (c2 - c1) / t2 * i2;
nekoyyy 7:1947b554f8e3 201 wait(0.022);
nekoyyy 7:1947b554f8e3 202 if(i2<0){
nekoyyy 7:1947b554f8e3 203 i2=1;
nekoyyy 7:1947b554f8e3 204 fei=5;
nekoyyy 7:1947b554f8e3 205 }
nekoyyy 7:1947b554f8e3 206 break;
nekoyyy 7:1947b554f8e3 207
nekoyyy 7:1947b554f8e3 208 case 5: //home kaeri
nekoyyy 7:1947b554f8e3 209 i1=i1-1;
nekoyyy 7:1947b554f8e3 210 Kata = homeK + (a1 - homeK) / t1 * i1;
nekoyyy 7:1947b554f8e3 211 Hiji = homeH + (b1 - homeH) / t1 * i1;
nekoyyy 7:1947b554f8e3 212 Te = homeT + (c1 - homeT) / t1 * i1;
nekoyyy 7:1947b554f8e3 213 wait(0.022);
nekoyyy 7:1947b554f8e3 214 if(i1<0){
nekoyyy 7:1947b554f8e3 215 i1=1;
nekoyyy 7:1947b554f8e3 216 fei=1;
nekoyyy 7:1947b554f8e3 217 dousa=0;
nekoyyy 7:1947b554f8e3 218 men=0;
nekoyyy 7:1947b554f8e3 219 }
nekoyyy 7:1947b554f8e3 220 break;
nekoyyy 7:1947b554f8e3 221 }
nekoyyy 7:1947b554f8e3 222 }
nekoyyy 7:1947b554f8e3 223 }
nekoyyy 7:1947b554f8e3 224 }
nekoyyy 7:1947b554f8e3 225
nekoyyy 7:1947b554f8e3 226 void BOUGYO(void const *argument) {
nekoyyy 7:1947b554f8e3 227 int i=0;
nekoyyy 7:1947b554f8e3 228 float a=0.075f; //sireiti
nekoyyy 7:1947b554f8e3 229 float b=0.100f;
nekoyyy 7:1947b554f8e3 230 float c=0.035f;
nekoyyy 7:1947b554f8e3 231 float max = maxof(henni(homeK,a),henni(homeH,b),henni(homeT,c));
nekoyyy 7:1947b554f8e3 232 float t = max / (0.03f / 0.17f * 0.01f); //nannbyou kakeruka 60(0.03duty)/0.17 servo /0.02s
nekoyyy 7:1947b554f8e3 233
nekoyyy 7:1947b554f8e3 234 while(true){
nekoyyy 7:1947b554f8e3 235 if(bou==1){
nekoyyy 7:1947b554f8e3 236
nekoyyy 7:1947b554f8e3 237 switch(fei){
nekoyyy 7:1947b554f8e3 238 case 1: //men iki
nekoyyy 7:1947b554f8e3 239 i=i+1;
nekoyyy 7:1947b554f8e3 240 Kata = homeK + (a - homeK) / t * i;
nekoyyy 7:1947b554f8e3 241 Hiji = homeH + (b - homeH) / t * i;
nekoyyy 7:1947b554f8e3 242 Te = homeT + (c - homeT) / t * i;
nekoyyy 7:1947b554f8e3 243 wait(0.022);
nekoyyy 7:1947b554f8e3 244 if(i>t){
nekoyyy 7:1947b554f8e3 245 fei=3;
nekoyyy 7:1947b554f8e3 246 }
nekoyyy 7:1947b554f8e3 247 break;
nekoyyy 7:1947b554f8e3 248
nekoyyy 7:1947b554f8e3 249 case 3: //men kaeri
nekoyyy 7:1947b554f8e3 250 i=i-1;
nekoyyy 7:1947b554f8e3 251 Kata = homeK + (a - homeK) / t * i;
nekoyyy 7:1947b554f8e3 252 Hiji = homeH + (b - homeH) / t * i;
nekoyyy 7:1947b554f8e3 253 Te = homeT + (c - homeT) / t * i;
nekoyyy 7:1947b554f8e3 254 wait(0.022);
nekoyyy 7:1947b554f8e3 255 if(i<0){
nekoyyy 7:1947b554f8e3 256 fei=1;
nekoyyy 7:1947b554f8e3 257 bou=0;
nekoyyy 7:1947b554f8e3 258 dousa=0;
nekoyyy 7:1947b554f8e3 259 i=1;
nekoyyy 7:1947b554f8e3 260 }
nekoyyy 7:1947b554f8e3 261 break;
nekoyyy 7:1947b554f8e3 262 }
nekoyyy 7:1947b554f8e3 263 }
nekoyyy 7:1947b554f8e3 264 }
nekoyyy 7:1947b554f8e3 265 }
nekoyyy 7:1947b554f8e3 266
nekoyyy 7:1947b554f8e3 267 void TUKI(void const *argument) {
nekoyyy 7:1947b554f8e3 268 int i=0;
nekoyyy 7:1947b554f8e3 269 float a=0.056f; //sireiti
nekoyyy 7:1947b554f8e3 270 float b=0.084f;
nekoyyy 7:1947b554f8e3 271 float c=0.035f;
nekoyyy 7:1947b554f8e3 272 float max = maxof(henni(homeK,a),henni(homeH,b),henni(homeT,c));
nekoyyy 7:1947b554f8e3 273 float t = max / (0.03f / 0.17f * 0.01f); //nannbyou kakeruka 60(0.03duty)/0.17 servo /0.02s
nekoyyy 7:1947b554f8e3 274
nekoyyy 7:1947b554f8e3 275 while(true){
nekoyyy 7:1947b554f8e3 276 if(tuk==1){
nekoyyy 7:1947b554f8e3 277
nekoyyy 7:1947b554f8e3 278 switch(fei){
nekoyyy 7:1947b554f8e3 279 case 1: //men iki
nekoyyy 7:1947b554f8e3 280 i=i+1;
nekoyyy 7:1947b554f8e3 281 Kata = homeK + (a - homeK) / t * i;
nekoyyy 7:1947b554f8e3 282 Hiji = homeH + (b - homeH) / t * i;
nekoyyy 7:1947b554f8e3 283 Te = homeT + (c - homeT) / t * i;
nekoyyy 7:1947b554f8e3 284 wait(0.022);
nekoyyy 7:1947b554f8e3 285 if(i>t){
nekoyyy 7:1947b554f8e3 286 fei=3;
nekoyyy 7:1947b554f8e3 287 }
nekoyyy 7:1947b554f8e3 288 break;
nekoyyy 7:1947b554f8e3 289
nekoyyy 7:1947b554f8e3 290 case 2: //feint
nekoyyy 7:1947b554f8e3 291 i=i-1;
nekoyyy 7:1947b554f8e3 292 Kata = homeK + (a - homeK) / t * i;
nekoyyy 7:1947b554f8e3 293 Hiji = homeH + (b - homeH) / t * i;
nekoyyy 7:1947b554f8e3 294 Te = homeT + (c - homeT) / t * i;
nekoyyy 7:1947b554f8e3 295 wait(0.022);
nekoyyy 7:1947b554f8e3 296 if(i<0){
nekoyyy 7:1947b554f8e3 297 fei=1;
nekoyyy 7:1947b554f8e3 298 tuk=0;
nekoyyy 7:1947b554f8e3 299 dousa=0;
nekoyyy 7:1947b554f8e3 300 i=1;
nekoyyy 7:1947b554f8e3 301 }
nekoyyy 7:1947b554f8e3 302 break;
nekoyyy 7:1947b554f8e3 303
nekoyyy 7:1947b554f8e3 304 case 3: //men kaeri
nekoyyy 7:1947b554f8e3 305 i=i-1;
nekoyyy 7:1947b554f8e3 306 Kata = homeK + (a - homeK) / t * i;
nekoyyy 7:1947b554f8e3 307 Hiji = homeH + (b - homeH) / t * i;
nekoyyy 7:1947b554f8e3 308 Te = homeT + (c - homeT) / t * i;
nekoyyy 7:1947b554f8e3 309 wait(0.022);
nekoyyy 7:1947b554f8e3 310 if(i<0){
nekoyyy 7:1947b554f8e3 311 fei=1;
nekoyyy 7:1947b554f8e3 312 tuk=0;
nekoyyy 7:1947b554f8e3 313 dousa=0;
nekoyyy 7:1947b554f8e3 314 i=1;
nekoyyy 7:1947b554f8e3 315 }
nekoyyy 7:1947b554f8e3 316 break;
nekoyyy 7:1947b554f8e3 317 }
nekoyyy 7:1947b554f8e3 318 }
nekoyyy 7:1947b554f8e3 319 }
nekoyyy 7:1947b554f8e3 320 }
nekoyyy 7:1947b554f8e3 321
nekoyyy 7:1947b554f8e3 322 void DOU(void const *argument) {
nekoyyy 7:1947b554f8e3 323 int i=0;
nekoyyy 7:1947b554f8e3 324 float a=0.047f; //sireiti
nekoyyy 7:1947b554f8e3 325 float b=0.087f;
nekoyyy 7:1947b554f8e3 326 float c=0.045f;
nekoyyy 7:1947b554f8e3 327 float max = maxof(henni(homeK,a),henni(homeH,b),henni(homeT,c));
nekoyyy 7:1947b554f8e3 328 float t = max / (0.03f / 0.17f * 0.01f); //nannbyou kakeruka 60(0.03duty)/0.17 servo /0.02s
nekoyyy 7:1947b554f8e3 329
nekoyyy 7:1947b554f8e3 330 while(true){
nekoyyy 7:1947b554f8e3 331 if(dou==1){
nekoyyy 7:1947b554f8e3 332
nekoyyy 7:1947b554f8e3 333 switch(fei){
nekoyyy 7:1947b554f8e3 334 case 1: //men iki
nekoyyy 7:1947b554f8e3 335 i=i+1;
nekoyyy 7:1947b554f8e3 336 Kata = homeK + (a - homeK) / t * i;
nekoyyy 7:1947b554f8e3 337 Hiji = homeH + (b - homeH) / t * i;
nekoyyy 7:1947b554f8e3 338 Te = homeT + (c - homeT) / t * i;
nekoyyy 7:1947b554f8e3 339 wait(0.022);
nekoyyy 7:1947b554f8e3 340 if(i>t){
nekoyyy 7:1947b554f8e3 341 fei=3;
nekoyyy 7:1947b554f8e3 342 }
nekoyyy 7:1947b554f8e3 343 break;
nekoyyy 7:1947b554f8e3 344
nekoyyy 7:1947b554f8e3 345 case 2: //feint
nekoyyy 7:1947b554f8e3 346 i=i-1;
nekoyyy 7:1947b554f8e3 347 Kata = homeK + (a - homeK) / t * i;
nekoyyy 7:1947b554f8e3 348 Hiji = homeH + (b - homeH) / t * i;
nekoyyy 7:1947b554f8e3 349 Te = homeT + (c - homeT) / t * i;
nekoyyy 7:1947b554f8e3 350 wait(0.022);
nekoyyy 7:1947b554f8e3 351 if(i<0){
nekoyyy 7:1947b554f8e3 352 fei=1;
nekoyyy 7:1947b554f8e3 353 dou=0;
nekoyyy 7:1947b554f8e3 354 dousa=0;
nekoyyy 7:1947b554f8e3 355 i=1;
nekoyyy 7:1947b554f8e3 356 }
nekoyyy 7:1947b554f8e3 357 break;
nekoyyy 7:1947b554f8e3 358
nekoyyy 7:1947b554f8e3 359 case 3: //men kaeri
nekoyyy 7:1947b554f8e3 360 i=i-1;
nekoyyy 7:1947b554f8e3 361 Kata = homeK + (a - homeK) / t * i;
nekoyyy 7:1947b554f8e3 362 Hiji = homeH + (b - homeH) / t * i;
nekoyyy 7:1947b554f8e3 363 Te = homeT + (c - homeT) / t * i;
nekoyyy 7:1947b554f8e3 364 wait(0.022);
nekoyyy 7:1947b554f8e3 365 if(i<0){
nekoyyy 7:1947b554f8e3 366 fei=1;
nekoyyy 7:1947b554f8e3 367 dou=0;
nekoyyy 7:1947b554f8e3 368 dousa=0;
nekoyyy 7:1947b554f8e3 369 i=1;
nekoyyy 7:1947b554f8e3 370 }
nekoyyy 7:1947b554f8e3 371 break;
nekoyyy 7:1947b554f8e3 372 }
nekoyyy 7:1947b554f8e3 373 }
emilmont 1:491820ee784d 374 }
emilmont 1:491820ee784d 375 }
emilmont 1:491820ee784d 376
emilmont 1:491820ee784d 377 int main() {
nekoyyy 7:1947b554f8e3 378 Thread t1(HANTEI);
nekoyyy 7:1947b554f8e3 379 Thread t2(ZENGO);
nekoyyy 7:1947b554f8e3 380 Thread t3(MEN);
nekoyyy 7:1947b554f8e3 381 Thread t4(BOUGYO);
nekoyyy 7:1947b554f8e3 382 Thread t5(TUKI);
nekoyyy 7:1947b554f8e3 383 Thread t6(DOU);
emilmont 1:491820ee784d 384
nekoyyy 7:1947b554f8e3 385 Kata=homeK;
nekoyyy 7:1947b554f8e3 386 Hiji=homeH;
nekoyyy 7:1947b554f8e3 387 Te=homeT;
nekoyyy 7:1947b554f8e3 388
nekoyyy 7:1947b554f8e3 389 pc.printf("startfm\n");
nekoyyy 7:1947b554f8e3 390
nekoyyy 7:1947b554f8e3 391 while (1){
emilmont 1:491820ee784d 392 }
nekoyyy 7:1947b554f8e3 393 }