File content as of revision 2:7c4a8e9f7db8:

#include "mbed.h"



DigitalIn IR0(A2);//0度(右回り)
DigitalIn IR1(A1);//22.5度
DigitalIn IR2(D13);//45度
DigitalIn IR3(D12);//6.5度
DigitalIn IR4(D11);//90度
DigitalIn IR5(D10);//112.5度
DigitalIn IR6(D9);//135度
DigitalIn IR7(D8);//157.5度
DigitalIn IR8(D7);//180度
DigitalIn IR9(D6);//202.5度
DigitalIn IR10(D5);//225度
DigitalIn IR11(D4);//247.5度
DigitalIn IR12(D3);//270
DigitalIn IR13(D2);//292.5
DigitalIn IR14(A7);//315
DigitalIn IR15(A6);//337.5度

//distance=0のときボール無し degree=0.5のときボールが真前
AnalogOut degree(A3);//1のときボール無し0が最近
AnalogOut distance(A4);


const int rate = 500;//サンプリングレートの決定
double Ballmin[16];
double deg,Ave,dis;
double min(double a, double b);//最小値関数

int main(){
    while(1){
        double Ball[16] = {0,0,0,0,0,0,0,0,0,0,0,0};
        
        for(int i = 1; i <= rate; i++){//サンプリング
            if(IR0 == 1){
                Ball[0] += 1;
                }
            if(IR1 == 1){
                Ball[1] += 1;
            }
            if(IR2 == 1){
                Ball[2] += 1;
            }
            if(IR3 == 1){
                Ball[3] += 1;
            }
            if(IR4 == 1){
                Ball[4] += 1;
            }
            if(IR5 == 1){
                Ball[5] += 1;
            }
            if(IR6 == 1){
                Ball[6] += 1;
            }
            if(IR7 == 1){
                Ball[7] += 1;
            }
            if(IR8 == 1){
                Ball[8] += 1;
            }
            if(IR9 == 1){
                Ball[9] += 1;
            }
            if(IR10 == 1){
                Ball[10] += 1;
            }
            if(IR11 == 1){
                Ball[11] += 1;
            }
            if(IR12 == 1){
                Ball[12] += 1;
            }
            if(IR13 == 1){
                Ball[13] += 1;
            }
            if(IR14 == 1){
                Ball[14] += 1;
            }
            if(IR15 == 1){
                Ball[15] += 1;
            } 
            wait_us(600);
        }
        
        Ballmin[0] = min(Ball[0],Ball[1]);
        Ballmin[1] = min(Ball[2],Ballmin[0]);
        Ballmin[2] = min(Ball[3],Ballmin[1]);
        Ballmin[3] = min(Ball[4],Ballmin[2]);
        Ballmin[4] = min(Ball[5],Ballmin[3]);
        Ballmin[5] = min(Ball[6],Ballmin[4]);
        Ballmin[6] = min(Ball[7],Ballmin[5]);
        Ballmin[7] = min(Ball[8],Ballmin[6]);
        Ballmin[8] = min(Ball[9],Ballmin[7]);
        Ballmin[9] = min(Ball[10],Ballmin[8]);
        Ballmin[11]= min(Ball[11],Ballmin[9]);//ボールセンサーの中心からの距離
        Ballmin[12]= min(Ball[12],Ballmin[11]);
        Ballmin[13]= min(Ball[13],Ballmin[12]);
        Ballmin[14]= min(Ball[14],Ballmin[13]);
        Ballmin[15]= min(Ball[15],Ballmin[14]);
        
        Ave = Ballmin[14]/rate;
        if(Ave <= 0.9){//ボールがあるときの閾値設定
        
            distance = Ave;
            
            if(Ball[0] == Ballmin[15]){
                degree = 0.50;
            }
            else if(Ball[1] == Ballmin[15]){//22.5
                degree = 0.5625;
            }
            else if(Ball[2] == Ballmin[15]){//45
                degree = 0.625;
            }
            else if(Ball[3] == Ballmin[15]){//67.5
                degree = 0.6875;
            }
            else if(Ball[4] == Ballmin[15]){//90
                degree = 0.75;
            }
            else if(Ball[5] == Ballmin[15]){//112.5
                degree = 0.8125;
            }
            else if(Ball[6] == Ballmin[15]){//135
                degree =0.875;
            }
            else if(Ball[7] == Ballmin[15]){//157.5
                degree = 0.9375;
            }
            else if(Ball[8] == Ballmin[15]){//180(-180)
                if(Ball[7]<= Ball[9]){
                    degree = 1;
                }
                else{
                    degree = 0;
                }
            }
            else if(Ball[9] == Ballmin[15]){//-157.5
                degree = 0.0625;
            }
            else if(Ball[10] == Ballmin[15]){//-135
                degree = 0.125;
            }
            else if(Ball[11] == Ballmin[15]){//-112.5
                degree = 0.1875;
            }
            else if(Ball[12]== Ballmin[15]){//-90
                degree = 0.25;
            }
            else if(Ball[13]== Ballmin[15]){//-66.5
                degree = 0.3125;
            }
            else if(Ball[14]== Ballmin[15]){//-45
                degree = 0.375;
            }
            else if(Ball[15]==Ballmin[15]){
                degree = 0.4375;
            }
        }
        else{//ボール無し
            degree = 0;
            distance = 1;
        }
    }
}

double min(double a,double b){
    if(a < b){
        return(a);
    }
    else{
        return(b);
    }
}