sumple program for angel linesensor. This program can prevent "out of bounds" while robot runs slow.

Dependencies:   mbed

/media/uploads/tajiri1999/angel_linesensor.png /media/uploads/tajiri1999/angel_linesensor_bord.png

基板サイズ φ130mm 固定部はr5mmの円弧 厚さ1mm

使用パーツ

Nucleo stm32f303k8 1個

xh 3pin 1個

フォトトランジスタ(NJL7502L) 36個

超高輝度3mmウォームホワイトLED 36個

LED用抵抗(300Ω 1/4w) 18個

プルダウン用抵抗(1kΩ1/6w) 18個

可変抵抗100kΩ(3362P) 18個

シュミットトリガ(SN74HC14N) 3個

ピンヘッダ 15p

ICソケット 14p

組立て

XHのピン側が前(0°方向)です。 可変抵抗のシルクがあるほうが地面側です。 LEDとフォトトランジスタはシルクの向きが逆ですが頭が地面側にくるように取り付けます。 LEDとフォトトランジスタをホールにさして、上空側から見たとき足の長いほうが左側にくるように取り付けてください。(ロボット正面から見ると右側に長い方が来ます) LED用抵抗は、間隔が広い抵抗シルクがあるところに取り付けてください。 プルダウン用抵抗は,間隔が短い抵抗シルクがあるところに取り付けてください。 Nucleoは上空から見たとき左側にmicrousb端子(ロボット正面から見ると右側)がくるように取り付けてください。

シュミットトリガやnucleoがモーター等に干渉しないように気をつけてください。干渉しそうな場合は反対の面からつけてください。

使い方 入力電圧は5Vです。 アナログ値(0:ボール無, 0.33-3.3V:ボール有)で出力されます。 TJ3で読む場合(0%:ボール無, 6%-66%:ボール有)

メインマイコン側で360度に変換します。

mbedの場合(0-1) 400*(line.read() -0.1)

cstyleの場合(0-100) 6*(CN1 - 6)

ロボット正面を0°,時計回りに360°として、 変換した値の角度の方向に動きます。

mbedの場合

if(line.read() == 0){反応無し}

else{進行方向 = 400*(line.read()-0.1);}

Cstyleの場合はテーブル化したり場合分けして動かすと良いでしょう。

if(CN1 == 0){反応無し}

else if(6*(CN1 - 6) >= 350){motor(r100,r100,100,100);}

else if(6*(CN1 - 6) >= 330){motor(r100,r80,100,80);}

..etc

Files at this revision

API Documentation at this revision

Comitter:
tajiri1999
Date:
Sun Apr 01 14:27:34 2018 +0000
Commit message:
This sensor program was made for RCJ.; It cannot be run perfect.

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file
mbed.bld Show annotated file Show diff for this revision Revisions of this file
diff -r 000000000000 -r aa4a1eead8d4 main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sun Apr 01 14:27:34 2018 +0000
@@ -0,0 +1,807 @@
+    #include "mbed.h"
+ 
+ /*Nucleo STM32F303k8で開発しました.*/
+DigitalIn Line0(A7);//0
+DigitalIn Line1(A1);//20
+DigitalIn Line2(A0);//40
+DigitalIn Line3(D13);//60
+DigitalIn Line4(D7);//80
+DigitalIn Line5(D10);//100
+DigitalIn Line6(D11);//120
+DigitalIn Line7(D12);//140
+DigitalIn Line8(D8);//160
+DigitalIn Line9(D9);//180
+DigitalIn Line10(D6);//200
+DigitalIn Line11(D5);//220
+DigitalIn Line12(D4);//240
+DigitalIn Line13(D0);//260
+DigitalIn Line14(D2);//280
+DigitalIn Line15(D3);//300
+DigitalIn Line16(A5);//320
+DigitalIn Line17(A6);//340
+
+/*DegreeOutの出力が0Vのときライン反応無し,0.33V~3.3Vのときライン反応有*/
+AnalogOut DegreeOut(A3);
+
+
+double Linefor(double x[18],double y[18]);
+
+int j;
+const float Pi = 3.1415926;
+double X[2];
+double Y[2];
+double Vx,Vy;
+double Distance,degreebase;
+double Degree[2];
+
+
+
+
+int main(){
+    while(1){
+        
+        
+        if(Line0 == 0){//0度にあるセンサーの反応があるとき    
+            double xb[18] = {1,0.93969,0.76604,0.5,0.17364,-0.17364,-0.5,-0.76604,-0.93969,-1,-0.93969,-0.76604,-0.5,-0.17364,0.17364,0.5,0.76604,0.93969};
+            double yb[18] = {0,0.34202,0.64278,0.86602,0.9848,0.9848,0.86602,0.64278,0.34202,0,-0.34202,-0.64278,-0.86602,-0.9848,-0.9848,-0.86602,-0.64278,-0.34202};
+            degreebase = 0;
+            while(1){
+                if((Line0==1)&&(Line1==1)&&(Line2==1)&&(Line3==1)&&(Line4==1)&&(Line5==1)&&(Line6==1)&&(Line7==1)&&(Line8==1)&&(Line9==1)
+                    &&(Line10==1)&&(Line11==1)&&(Line12==1)&&(Line13==1)&&(Line14==1)&&(Line15==1)&&(Line16==1)&&(Line17==1)){
+                    if(Vx < 0){
+                        DegreeOut = Degree[1]/400 + 0.1;
+                    }
+                    else{    
+                        break;
+                    }
+                }
+                else{
+                    Degree[1] = (degreebase + Linefor(xb,yb) + 180);//180°足すのは求めた角度の反対側に進むため
+                    if(Degree[1] >= 360){//定義域を0~360に変換
+                        Degree[1] = Degree[1] - 360;
+                    }
+                    else if(Degree[1] <= 0){
+                        Degree[1] = Degree[1] + 360;
+                    }
+                    DegreeOut = Degree[1]/400 + 0.1;
+                } 
+            }       
+        }
+        else if(Line1 == 0){        //20
+           double xb[18] = {0.93969,1,0.93969,0.76604,0.5,0.17364,-0.17364,-0.5,-0.76604,-0.93969,-1,-0.93969,-0.76604,-0.5,-0.17364,0.17364,0.5,0.7660};
+           double yb[18] = {-0.34202,0,0.34202,0.64278,0.86602,0.9848,0.9848,0.86602,0.64278,0.34202,0,-0.34202,-0.64278,-0.86602,-0.9848,-0.9848,-0.86602,-0.64278};
+            degreebase = 20;
+            
+            
+            while(1){
+                if((Line0==1)&&(Line1==1)&&(Line2==1)&&(Line3==1)&&(Line4==1)&&(Line5==1)&&(Line6==1)&&(Line7==1)&&(Line8==1)&&(Line9==1)
+                    &&(Line10==1)&&(Line11==1)&&(Line12==1)&&(Line13==1)&&(Line14==1)&&(Line15==1)&&(Line16==1)&&(Line17==1)){
+                    if(Vx < 0){//角度が反転した状態でラインから出たとき
+                        DegreeOut = Degree[1]/400 + 0.1;
+                    }
+                    else{    
+                        break;
+                    }
+                }
+                else{
+                    Degree[1] = (degreebase + Linefor(xb,yb) + 180);
+                    if(Degree[1] >= 360){
+                        Degree[1] = Degree[1] - 360;
+                    }
+                    else if(Degree[1] <= 0){
+                        Degree[1] = Degree[1] + 360;
+                    }
+                    DegreeOut = Degree[1]/400 + 0.1;
+                } 
+            }
+        }
+        else if(Line2 ==0){//40
+            double xb[18] = {0.7660,0.93969,1,0.93969,0.76604,0.5,0.17364,-0.17364,-0.5,-0.76604,-0.93969,-1,-0.93969,-0.76604,-0.5,-0.17364,0.17364,0.5};
+            double yb[18] = {-0.64278,-0.34202,0,0.34202,0.64278,0.86602,0.9848,0.9848,0.86602,0.64278,0.34202,0,-0.34202,-0.64278,-0.86602,-0.9848,-0.9848,-0.86602};
+           
+            degreebase = 40;
+            
+            
+            while(1){
+                if((Line0==1)&&(Line1==1)&&(Line2==1)&&(Line3==1)&&(Line4==1)&&(Line5==1)&&(Line6==1)&&(Line7==1)&&(Line8==1)&&(Line9==1)
+                    &&(Line10==1)&&(Line11==1)&&(Line12==1)&&(Line13==1)&&(Line14==1)&&(Line15==1)&&(Line16==1)&&(Line17==1)){
+                    if(Vx < 0){
+                        DegreeOut = Degree[1]/400 + 0.1;
+                    }
+                    else{    
+                        break;
+                    }
+                }
+                else{
+                    Degree[1] = (degreebase + Linefor(xb,yb) + 180);
+                    if(Degree[1] >= 360){
+                        Degree[1] = Degree[1] - 360;
+                    }
+                    else if(Degree[1] <= 0){
+                        Degree[1] = Degree[1] + 360;
+                    }
+                    DegreeOut = Degree[1]/400 + 0.1;
+                }      
+            }       
+        }
+        else if(Line3 ==0){
+            double xb[18] = {0.5,0.7660,0.93969,1,0.93969,0.76604,0.5,0.17364,-0.17364,-0.5,-0.76604,-0.93969,-1,-0.93969,-0.76604,-0.5,-0.17364,0.17364};
+            double yb[18] = {-0.86602,-0.64278,-0.34202,0,0.34202,0.64278,0.86602,0.9848,0.9848,0.86602,0.64278,0.34202,0,-0.34202,-0.64278,-0.86602,-0.9848,-0.9848};
+            degreebase = 60;
+            
+            
+            while(1){
+                if((Line0==1)&&(Line1==1)&&(Line2==1)&&(Line3==1)&&(Line4==1)&&(Line5==1)&&(Line6==1)&&(Line7==1)&&(Line8==1)&&(Line9==1)
+                    &&(Line10==1)&&(Line11==1)&&(Line12==1)&&(Line13==1)&&(Line14==1)&&(Line15==1)&&(Line16==1)&&(Line17==1)){
+                    if(Vx < 0){
+                        DegreeOut = Degree[1]/400 + 0.1;
+                    }
+                    else{    
+                        break;
+                    }
+                }
+                else{
+                    Degree[1] = (degreebase + Linefor(xb,yb) + 180);
+                    if(Degree[1] >= 360){
+                        Degree[1] = Degree[1] - 360;
+                    }
+                    else if(Degree[1] <= 0){
+                        Degree[1] = Degree[1] + 360;
+                    }
+                    DegreeOut = Degree[1]/400 + 0.1;
+                }              
+            }     
+        }
+        else if(Line4 ==0){
+            double xb[18] = {0.17364,0.5,0.7660,0.93969,1,0.93969,0.76604,0.5,0.17364,-0.17364,-0.5,-0.76604,-0.93969,-1,-0.93969,-0.76604,-0.5,-0.17364};
+            double yb[18] = {-0.9848,-0.86602,-0.64278,-0.34202,0,0.34202,0.64278,0.86602,0.9848,0.9848,0.86602,0.64278,0.34202,0,-0.34202,-0.64278,-0.86602,-0.9848};
+            degreebase = 80;
+            
+            
+            while(1){
+                if((Line0==1)&&(Line1==1)&&(Line2==1)&&(Line3==1)&&(Line4==1)&&(Line5==1)&&(Line6==1)&&(Line7==1)&&(Line8==1)&&(Line9==1)
+                    &&(Line10==1)&&(Line11==1)&&(Line12==1)&&(Line13==1)&&(Line14==1)&&(Line15==1)&&(Line16==1)&&(Line17==1)){
+                    if(Vx < 0){
+                        DegreeOut = Degree[1]/400 + 0.1;
+                    }
+                    else{    
+                        break;
+                    }
+                }
+                else{
+                    Degree[1] = (degreebase + Linefor(xb,yb) + 180);
+                    if(Degree[1] >= 360){
+                        Degree[1] = Degree[1] - 360;
+                    }
+                    else if(Degree[1] <= 0){
+                        Degree[1] = Degree[1] + 360;
+                    }
+                    DegreeOut = Degree[1]/400 + 0.1;
+                }                 
+            }           
+        }
+        else if(Line5 ==0){//100
+            double xb[18] = {-0.17364,0.17364,0.5,0.7660,0.93969,1,0.93969,0.76604,0.5,0.17364,-0.17364,-0.5,-0.76604,-0.93969,-1,-0.93969,-0.76604,-0.5};
+            double yb[18] = {-0.9848,-0.9848,-0.86602,-0.64278,-0.34202,0,0.34202,0.64278,0.86602,0.9848,0.9848,0.86602,0.64278,0.34202,0,-0.34202,-0.64278,-0.86602};
+            degreebase = 100;
+            
+            
+            while(1){
+                if((Line0==1)&&(Line1==1)&&(Line2==1)&&(Line3==1)&&(Line4==1)&&(Line5==1)&&(Line6==1)&&(Line7==1)&&(Line8==1)&&(Line9==1)
+                    &&(Line10==1)&&(Line11==1)&&(Line12==1)&&(Line13==1)&&(Line14==1)&&(Line15==1)&&(Line16==1)&&(Line17==1)){
+                    if(Vx < 0){
+                        DegreeOut = Degree[1]/400 + 0.1;
+                    }
+                    else{    
+                        break;
+                    }
+                }
+                else{
+                    Degree[1] = (degreebase + Linefor(xb,yb) + 180);
+                    if(Degree[1] >= 360){
+                        Degree[1] = Degree[1] - 360;
+                    }
+                    else if(Degree[1] <= 0){
+                        Degree[1] = Degree[1] + 360;
+                    }
+                    DegreeOut = Degree[1]/400 + 0.1;
+                }          
+            }
+        }
+        else if(Line6 ==0){//120
+            double xb[18] = {-0.5,-0.17364,0.17364,0.5,0.7660,0.93969,1,0.93969,0.76604,0.5,0.17364,-0.17364,-0.5,-0.76604,-0.93969,-1,-0.93969,-0.76604};
+            double yb[18] = {-0.86602,-0.9848,-0.9848,-0.86602,-0.64278,-0.34202,0,0.34202,0.64278,0.86602,0.9848,0.9848,0.86602,0.64278,0.34202,0,-0.34202,-0.64278};
+            degreebase = 120;
+            
+            
+            while(1){
+                if((Line0==1)&&(Line1==1)&&(Line2==1)&&(Line3==1)&&(Line4==1)&&(Line5==1)&&(Line6==1)&&(Line7==1)&&(Line8==1)&&(Line9==1)
+                    &&(Line10==1)&&(Line11==1)&&(Line12==1)&&(Line13==1)&&(Line14==1)&&(Line15==1)&&(Line16==1)&&(Line17==1)){                   
+                    if(Vx < 0){
+                        DegreeOut = Degree[1]/400 + 0.1;
+                    }
+                    else{    
+                        break;
+                    }                     
+                }
+                else{
+                    Degree[1] = (degreebase + Linefor(xb,yb) + 180);
+                    if(Degree[1] >= 360){
+                        Degree[1] = Degree[1] - 360;
+                    }
+                    else if(Degree[1] <= 0){
+                        Degree[1] = Degree[1] + 360;
+                    }
+                    DegreeOut = Degree[1]/400 + 0.1;
+                }       
+            }                 
+        }
+        else if(Line7 ==0){
+            double xb[18] = {-0.76604,-0.5,-0.17364,0.17364,0.5,0.7660,0.93969,1,0.93969,0.76604,0.5,0.17364,-0.17364,-0.5,-0.76604,-0.93969,-1,-0.93969};
+            double yb[18] = {-0.64278,-0.86602,-0.9848,-0.9848,-0.86602,-0.64278,-0.34202,0,0.34202,0.64278,0.86602,0.9848,0.9848,0.86602,0.64278,0.34202,0,-0.34202};
+            degreebase = 140;
+            
+            while(1){
+                if((Line0==1)&&(Line1==1)&&(Line2==1)&&(Line3==1)&&(Line4==1)&&(Line5==1)&&(Line6==1)&&(Line7==1)&&(Line8==1)&&(Line9==1)
+                    &&(Line10==1)&&(Line11==1)&&(Line12==1)&&(Line13==1)&&(Line14==1)&&(Line15==1)&&(Line16==1)&&(Line17==1)){
+                                        
+                    if(Vx < 0){
+                        DegreeOut = Degree[1]/400 + 0.1;
+                    }
+                    else{    
+                        break;
+                    }                        
+                    
+                }
+                else{
+                    
+                    Degree[1] = (degreebase + Linefor(xb,yb) + 180);
+                    if(Degree[1] >= 360){
+                        Degree[1] = Degree[1] - 360;
+                    }
+                    else if(Degree[1] <= 0){
+                        Degree[1] = Degree[1] + 360;
+                    }
+                    DegreeOut = Degree[1]/400 + 0.1;
+                }          
+            }     
+        }
+        else if(Line8 ==0){
+            double xb[18] = {-0.93969,-0.76604,-0.5,-0.17364,0.17364,0.5,0.7660,0.93969,1,0.93969,0.76604,0.5,0.17364,-0.17364,-0.5,-0.76604,-0.93969,-1};
+            double yb[18] = {-0.34202,-0.64278,-0.86602,-0.9848,-0.9848,-0.86602,-0.64278,-0.34202,0,0.34202,0.64278,0.86602,0.9848,0.9848,0.86602,0.64278,0.34202,0};
+            degreebase = 160;
+            
+            
+            while(1){
+                if((Line0==1)&&(Line1==1)&&(Line2==1)&&(Line3==1)&&(Line4==1)&&(Line5==1)&&(Line6==1)&&(Line7==1)&&(Line8==1)&&(Line9==1)
+                    &&(Line10==1)&&(Line11==1)&&(Line12==1)&&(Line13==1)&&(Line14==1)&&(Line15==1)&&(Line16==1)&&(Line17==1)){                                   
+                    if(Vx < 0){
+                        DegreeOut = Degree[1]/400 + 0.1;
+                    }
+                    else{    
+                        break;
+                    }                     
+                    
+                }
+                else{
+                    
+                    Degree[1] = (degreebase + Linefor(xb,yb) + 180);
+                    if(Degree[1] >= 360){
+                        Degree[1] = Degree[1] - 360;
+                    }
+                    else if(Degree[1] <= 0){
+                        Degree[1] = Degree[1] + 360;
+                    }
+                    DegreeOut = Degree[1]/400 + 0.1;
+                }                
+            }
+        }
+        else if(Line9 ==0){
+            double xb[18] = {-1,-0.93969,-0.76604,-0.5,-0.17364,0.17364,0.5,0.7660,0.93969,1,0.93969,0.76604,0.5,0.17364,-0.17364,-0.5,-0.76604,-0.93969};
+            double yb[18] = {0,-0.34202,-0.64278,-0.86602,-0.9848,-0.9848,-0.86602,-0.64278,-0.34202,0,0.34202,0.64278,0.86602,0.9848,0.9848,0.86602,0.64278,0.34202};
+            degreebase = 180;
+            
+            while(1){
+                if((Line0==1)&&(Line1==1)&&(Line2==1)&&(Line3==1)&&(Line4==1)&&(Line5==1)&&(Line6==1)&&(Line7==1)&&(Line8==1)&&(Line9==1)
+                    &&(Line10==1)&&(Line11==1)&&(Line12==1)&&(Line13==1)&&(Line14==1)&&(Line15==1)&&(Line16==1)&&(Line17==1)){
+                                       
+                    if(Vx < 0){
+                        DegreeOut = Degree[1]/400 + 0.1;
+                    }
+                    else{    
+                        break;
+                    }                  
+                    
+                }
+                else{
+                    
+                    Degree[1] = (degreebase + Linefor(xb,yb) + 180);
+                    if(Degree[1] >= 360){
+                        Degree[1] = Degree[1] - 360;
+                    }
+                    else if(Degree[1] <= 0){
+                        Degree[1] = Degree[1] + 360;
+                    }
+                    DegreeOut = Degree[1]/400 + 0.1;
+                }               
+            }
+        }
+        else if(Line10 ==0){
+            double xb[18] = {-0.93969,-1,-0.93969,-0.76604,-0.5,-0.17364,0.17364,0.5,0.7660,0.93969,1,0.93969,0.76604,0.5,0.17364,-0.17364,-0.5,-0.76604};
+            double yb[18] = {0.342020,-0.34202,-0.64278,-0.86602,-0.9848,-0.9848,-0.86602,-0.64278,-0.34202,0,0.34202,0.64278,0.86602,0.9848,0.9848,0.86602,0.64278};
+            degreebase = 200;
+            
+            while(1){
+                if((Line0==1)&&(Line1==1)&&(Line2==1)&&(Line3==1)&&(Line4==1)&&(Line5==1)&&(Line6==1)&&(Line7==1)&&(Line8==1)&&(Line9==1)
+                    &&(Line10==1)&&(Line11==1)&&(Line12==1)&&(Line13==1)&&(Line14==1)&&(Line15==1)&&(Line16==1)&&(Line17==1)){
+                                        
+                    if(Vx < 0){
+                        DegreeOut = Degree[1]/400 + 0.1;
+                    }
+                    else{    
+                        break;
+                    }                     
+                    
+                }
+                else{
+                    
+                    Degree[1] = (degreebase + Linefor(xb,yb) + 180);
+                    if(Degree[1] >= 360){
+                        Degree[1] = Degree[1] - 360;
+                    }
+                    else if(Degree[1] <= 0){
+                        Degree[1] = Degree[1] + 360;
+                    }
+                    DegreeOut = Degree[1]/400 + 0.1;
+                } 
+            } 
+        }
+        else if(Line11 ==0){
+            double xb[18] = {-0.76604,-0.93969,-1,-0.93969,-0.76604,-0.5,-0.17364,0.17364,0.5,0.7660,0.93969,1,0.93969,0.76604,0.5,0.17364,-0.17364,-0.5};
+            double yb[18] = {0.64278,0.34202,0,-0.34202,-0.64278,-0.86602,-0.9848,-0.9848,-0.86602,-0.64278,-0.34202,0,0.34202,0.64278,0.86602,0.9848,0.9848,0.86602};
+            degreebase = 220;
+            
+            while(1){
+                if((Line0==1)&&(Line1==1)&&(Line2==1)&&(Line3==1)&&(Line4==1)&&(Line5==1)&&(Line6==1)&&(Line7==1)&&(Line8==1)&&(Line9==1)
+                    &&(Line10==1)&&(Line11==1)&&(Line12==1)&&(Line13==1)&&(Line14==1)&&(Line15==1)&&(Line16==1)&&(Line17==1)){
+                                          
+                    if(Vx < 0){
+                        DegreeOut = Degree[1]/400 + 0.1;
+                    }
+                    else{    
+                        break;
+                    }                     
+                    
+                }
+                else{
+                    
+                    Degree[1] = (degreebase + Linefor(xb,yb) + 180);
+                    if(Degree[1] >= 360){
+                        Degree[1] = Degree[1] - 360;
+                    }
+                    else if(Degree[1] <= 0){
+                        Degree[1] = Degree[1] + 360;
+                    }
+                    DegreeOut = Degree[1]/400 + 0.1;
+                }            
+            }
+        }
+        else if(Line12 ==0){
+            double xb[18] = {-0.5,-0.76604,-0.93969,-1,-0.93969,-0.76604,-0.5,-0.17364,0.17364,0.5,0.7660,0.93969,1,0.93969,0.76604,0.5,0.17364,-0.17364};
+            double yb[18] = {0.86602,0.64278,0.34202,0,-0.34202,-0.64278,-0.86602,-0.9848,-0.9848,-0.86602,-0.64278,-0.34202,0,0.34202,0.64278,0.86602,0.9848,0.9848};
+            degreebase = 240;
+            
+            while(1){
+                if((Line0==1)&&(Line1==1)&&(Line2==1)&&(Line3==1)&&(Line4==1)&&(Line5==1)&&(Line6==1)&&(Line7==1)&&(Line8==1)&&(Line9==1)
+                    &&(Line10==1)&&(Line11==1)&&(Line12==1)&&(Line13==1)&&(Line14==1)&&(Line15==1)&&(Line16==1)&&(Line17==1)){
+                               
+                    if(Vx < 0){
+                        DegreeOut = Degree[1]/400 + 0.1;
+                    }
+                    else{    
+                        break;
+                    }                     
+                    
+                }
+                else{
+                    
+                    Degree[1] = (degreebase + Linefor(xb,yb) + 180);
+                    if(Degree[1] >= 360){
+                        Degree[1] = Degree[1] - 360;
+                    }
+                    else if(Degree[1] <= 0){
+                        Degree[1] = Degree[1] + 360;
+                    }
+                    DegreeOut = Degree[1]/400 + 0.1;
+                } 
+            }         
+        }
+        else if(Line13 ==0){
+            double xb[18] = {-0.17364,-0.5,-0.76604,-0.93969,-1,-0.93969,-0.76604,-0.5,-0.17364,0.17364,0.5,0.7660,0.93969,1,0.93969,0.76604,0.5,0.17364};
+            double yb[18] = {0.9848,0.86602,0.64278,0.34202,0,-0.34202,-0.64278,-0.86602,-0.9848,-0.9848,-0.86602,-0.64278,-0.34202,0,0.34202,0.64278,0.86602,0.9848};
+            degreebase = 260;
+            
+            while(1){
+                if((Line0==1)&&(Line1==1)&&(Line2==1)&&(Line3==1)&&(Line4==1)&&(Line5==1)&&(Line6==1)&&(Line7==1)&&(Line8==1)&&(Line9==1)
+                    &&(Line10==1)&&(Line11==1)&&(Line12==1)&&(Line13==1)&&(Line14==1)&&(Line15==1)&&(Line16==1)&&(Line17==1)){
+                    
+                    if(Vx < 0){
+                        DegreeOut = Degree[1]/400 + 0.1;
+                    }
+                    else{    
+                        break;
+                    }                    
+                    
+                }
+                else{
+                    
+                    Degree[1] = (degreebase + Linefor(xb,yb) + 180);
+                    if(Degree[1] >= 360){
+                        Degree[1] = Degree[1] - 360;
+                    }
+                    else if(Degree[1] <= 0){
+                        Degree[1] = Degree[1] + 360;
+                    }
+                    DegreeOut = Degree[1]/400 + 0.1;
+                }           
+            }      
+        }
+        else if(Line14==0){
+            double xb[18] = {0.17364,-0.17364,-0.5,-0.76604,-0.93969,-1,-0.93969,-0.76604,-0.5,-0.17364,0.17364,0.5,0.7660,0.93969,1,0.93969,0.76604,0.5};
+            double yb[18] = {0.9848,0.9848,0.86602,0.64278,0.34202,0,-0.34202,-0.64278,-0.86602,-0.9848,-0.9848,-0.86602,-0.64278,-0.34202,0,0.34202,0.64278,0.86602};
+            degreebase = 280;
+            
+            while(1){
+                if((Line0==1)&&(Line1==1)&&(Line2==1)&&(Line3==1)&&(Line4==1)&&(Line5==1)&&(Line6==1)&&(Line7==1)&&(Line8==1)&&(Line9==1)
+                    &&(Line10==1)&&(Line11==1)&&(Line12==1)&&(Line13==1)&&(Line14==1)&&(Line15==1)&&(Line16==1)&&(Line17==1)){
+                                     
+                    if(Vx < 0){
+                        DegreeOut = Degree[1]/400 + 0.1;
+                    }
+                    else{    
+                        break;
+                    }                    
+                    
+                }
+                else{
+                    
+                    Degree[1] = (degreebase + Linefor(xb,yb) + 180);
+                    if(Degree[1] >= 360){
+                        Degree[1] = Degree[1] - 360;
+                    }
+                    else if(Degree[1] <= 0){
+                        Degree[1] = Degree[1] + 360;
+                    }
+                    DegreeOut = Degree[1]/400 + 0.1;
+                }              
+            }         
+        }
+        else if(Line15 ==0){
+            double xb[18] = {0.5,0.17364,-0.17364,-0.5,-0.76604,-0.93969,-1,-0.93969,-0.76604,-0.5,-0.17364,0.17364,0.5,0.7660,0.93969,1,0.93969,0.76604};
+            double yb[18] = {0.86602,0.9848,0.9848,0.86602,0.64278,0.34202,0,-0.34202,-0.64278,-0.86602,-0.9848,-0.9848,-0.86602,-0.64278,-0.34202,0,0.34202,0.64278};
+            degreebase = 300;
+            
+            while(1){
+                if((Line0==1)&&(Line1==1)&&(Line2==1)&&(Line3==1)&&(Line4==1)&&(Line5==1)&&(Line6==1)&&(Line7==1)&&(Line8==1)&&(Line9==1)
+                    &&(Line10==1)&&(Line11==1)&&(Line12==1)&&(Line13==1)&&(Line14==1)&&(Line15==1)&&(Line16==1)&&(Line17==1)){
+                                        
+                    if(Vx < 0){
+                        DegreeOut = Degree[1]/400 + 0.1;
+                    }
+                    else{    
+                        break;
+                    }                    
+                    
+                }
+                else{
+                    
+                    Degree[1] = (degreebase + Linefor(xb,yb) + 180);
+                    if(Degree[1] >= 360){
+                        Degree[1] = Degree[1] - 360;
+                    }
+                    else if(Degree[1] <= 0){
+                        Degree[1] = Degree[1] + 360;
+                    }
+                    DegreeOut = Degree[1]/400 + 0.1;
+                }          
+            }
+        }
+        else if(Line16 ==0){
+            double xb[18] = {0.76604,0.5,0.17364,-0.17364,-0.5,-0.76604,-0.93969,-1,-0.93969,-0.76604,-0.5,-0.17364,0.17364,0.5,0.7660,0.93969,1,0.93969};
+            double yb[18] = {0.64278,0.86602,0.9848,0.9848,0.86602,0.64278,0.34202,0,-0.34202,-0.64278,-0.86602,-0.9848,-0.9848,-0.86602,-0.64278,-0.34202,0,0.34202};
+            degreebase = 320;
+            
+            while(1){
+                if((Line0==1)&&(Line1==1)&&(Line2==1)&&(Line3==1)&&(Line4==1)&&(Line5==1)&&(Line6==1)&&(Line7==1)&&(Line8==1)&&(Line9==1)
+                    &&(Line10==1)&&(Line11==1)&&(Line12==1)&&(Line13==1)&&(Line14==1)&&(Line15==1)&&(Line16==1)&&(Line17==1)){
+                                        
+                    if(Vx < 0){
+                        DegreeOut = Degree[1]/400 + 0.1;
+                    }
+                    else{    
+                        break;
+                    }                     
+                    
+                }
+                else{
+                    
+                    Degree[1] = (degreebase + Linefor(xb,yb) + 180);
+                    if(Degree[1] >= 360){
+                        Degree[1] = Degree[1] - 360;
+                    }
+                    else if(Degree[1] <= 0){
+                        Degree[1] = Degree[1] + 360;
+                    }
+                    DegreeOut = Degree[1]/400 + 0.1;
+                }           
+            }    
+        }
+        else if(Line17 ==0){
+            double xb[18] = {0.93969,0.76604,0.5,0.17364,-0.17364,-0.5,-0.76604,-0.93969,-1,-0.93969,-0.76604,-0.5,-0.17364,0.17364,0.5,0.7660,0.93969,1};
+            double yb[18] = {0.34202,0.64278,0.86602,0.9848,0.9848,0.86602,0.64278,0.34202,0,-0.34202,-0.64278,-0.86602,-0.9848,-0.9848,-0.86602,-0.64278,-0.34202,0};
+            degreebase = 340;
+            
+            while(1){
+                if((Line0==1)&&(Line1==1)&&(Line2==1)&&(Line3==1)&&(Line4==1)&&(Line5==1)&&(Line6==1)&&(Line7==1)&&(Line8==1)&&(Line9==1)
+                    &&(Line10==1)&&(Line11==1)&&(Line12==1)&&(Line13==1)&&(Line14==1)&&(Line15==1)&&(Line16==1)&&(Line17==1)){
+                                       
+                    if(Vx < 0){
+                        DegreeOut = Degree[1]/400 + 0.1;
+                    }
+                    else{    
+                        break;
+                    }                    
+                    
+                }
+                else{
+                    
+                    Degree[1] = (degreebase + Linefor(xb,yb) + 180);
+                    if(Degree[1] >= 360){
+                        Degree[1] = Degree[1] - 360;
+                    }
+                    else if(Degree[1] <= 0){
+                        Degree[1] = Degree[1] + 360;
+                    }
+                    DegreeOut = Degree[1]/400 + 0.1;
+                }            
+            }
+        }
+        //センサーの反応が無いとき
+        else{
+            DegreeOut = 0;
+            Degree[0] = 0;
+            
+            
+        }
+    }
+}
+
+
+
+
+
+/*ラインセンサ角度取得*/
+double Linefor(double x[18],double y[18]){
+    double preDistance = 0;//初期化
+    bool Line[18] = {Line0,Line1,Line2,Line3,Line4,Line5,Line6,Line7,Line8,Line9,Line10,Line11,Line12,Line13,Line14,Line15,Line16,Line17};
+    
+    /*3つい上の複数のセンサーが反応したとき最も離れた2点を取得*/
+    for(int i = 0;i <= 17;i++){
+        if(Line[i] == 0){
+            X[0] = x[i];//一点目のX座標Y座標代入
+            Y[0] = y[i];
+            X[1] = x[i];
+            Y[1] = y[i];
+            //////////////////////
+            if(i+1 >= 18){
+                j = i  - 17; 
+            }
+            else{
+                j= i+1;
+            }
+            if(Line[j] == 0){
+                X[1] = x[j];
+                Y[1] = y[j];
+            }
+            /////////////////////
+            if(i-1 <= -1){
+                j = i + 17; 
+            }
+            else{
+                j= i-1;
+            }
+            if(Line[j] == 0){
+                X[1] = x[j];
+                Y[1] = y[j];
+            }
+             /////////////////////
+            if(i+2 >= 18){
+                j = i  - 16; 
+            }
+            else{
+                j= i+2;
+            }
+            if(Line[j] == 0){
+                X[1] = x[j];
+                Y[1] = y[j];
+            }
+            /////////////////////
+            if(i-2 <= -1){
+                j = i + 16; 
+            }
+            else{
+                j= i-2;
+            }
+            if(Line[j] == 0){
+                X[1] = x[j];
+                Y[1] = y[j];
+            }
+            /////////////////////
+            if(i+3 >= 18){
+                j = i  - 15; 
+            }
+            else{
+                j= i+3;
+            }
+            if(Line[j] == 0){
+                X[1] = x[j];
+                Y[1] = y[j];
+            }
+            //////////////////////
+            if(i-3 <= -1){
+                j = i + 15; 
+            }
+            else{
+                j= i-3;
+            }
+            if(Line[j] == 0){
+                X[1] = x[j];
+                Y[1] = y[j];
+            }
+            ///////////////////
+            if(i+4 >= 18){
+                j = i  - 14; 
+            }
+            else{
+                j= i+4;
+            }
+            if(Line[j] == 0){
+                X[1] = x[j];
+                Y[1] = y[j];
+            }
+            ////////////////////
+            if(i-4 <= -1){
+                j = i + 14; 
+            }
+            else{
+                j= i-4;
+            }
+            if(Line[j] == 0){
+                X[1] = x[j];
+                Y[1] = y[j];
+            }
+            /////////////////////
+            if(i+5 >= 18){
+                j = i  - 13; 
+            }
+            else{
+                j= i+5;
+            }
+            if(Line[j] == 0){
+                X[1] = x[j];
+                Y[1] = y[j];
+            }
+            ///////////////////
+            if(i-5 <= -1){
+                j = i + 13; 
+            }
+            else{
+                j= i-5;
+            }
+            if(Line[j] == 0){
+                X[1] = x[j];
+                Y[1] = y[j];
+            }
+            ////////////////////
+            if(i+6 >= 18){
+                j = i  - 12; 
+            }
+            else{
+                j= i+6;
+            }
+            if(Line[j] == 0){
+                X[1] = x[j];
+                Y[1] = y[j];
+            }
+            ///////////////////
+            if(i-6 <= -1){
+                j = i + 12; 
+            }
+            else{
+                j= i-6;
+            }
+            if(Line[j] == 0){
+                X[1] = x[j];
+                Y[1] = y[j];
+            }
+            //////////////////
+            if(i+7 >= 18){
+                j = i  - 11; 
+            }
+            else{
+                j= i+7;
+            }
+            if(Line[j] == 0){
+                X[1] = x[j];
+                Y[1] = y[j];
+            }
+            //////////////////
+            if(i-7 <= -1){
+                j = i + 11; 
+            }
+            else{
+                j= i-7;
+            }
+            if(Line[j] == 0){
+                X[1] = x[j];
+                Y[1] = y[j];
+             }
+            /////////////////
+            if(i+8 >= 18){
+                j = i  - 10; 
+            }
+            else{
+                j= i+8;
+            }
+            if(Line[j] == 0){
+                X[1] = x[j];
+                Y[1] = y[j];
+            }
+             ///////////////
+            if(i-8 <= -1){
+                j = i + 10; 
+            }
+            else{
+                j= i-8;
+            }
+            if(Line[j] == 0){
+                X[1] = x[j];
+                Y[1] = y[j];
+            }
+            //////////////////
+            if(i+9 >= 18){
+                j = i  - 9; 
+            }
+            else{
+                j= i+9;
+            }
+            if(Line[j] == 0){
+                X[1] = x[j];
+                Y[1] = y[j];
+            }
+            ////////////////
+            ////////////////
+            Distance = (X[1]-X[0])*(X[1]-X[0]) + (Y[1]-Y[0])*(Y[1]-Y[0]);//距離の計算
+            
+            if(Distance > preDistance){//前ループで計算した距離と比較
+                Vx = (X[0]+X[1])/2;
+                Vy = (Y[0]+Y[1])/2;
+                preDistance = Distance;
+            }
+        }
+    }
+    if(Distance == 0){//2点反応してないとき
+        return(Degree[0]);
+    }
+    else{
+        if((Vx == 0) && (Vy == 0)){         ////VyVx が0で角度が出せないとき
+            return(Degree[0]);
+        }
+        else{                    
+            Degree[0] = atan(Vy/Vx)*(180/Pi); 
+            return(Degree[0]);
+        }        
+    }
+}
+
+
diff -r 000000000000 -r aa4a1eead8d4 mbed.bld
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Sun Apr 01 14:27:34 2018 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/mbed_official/code/mbed/builds/e7ca05fa8600
\ No newline at end of file