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障害物回避アルゴリズム
Dependencies: TA7291P mbed Ping
main.cpp
- Committer:
- tomoya123
- Date:
- 2017-03-17
- Revision:
- 0:bc1f87f34e45
File content as of revision 0:bc1f87f34e45:
#include "mbed.h" #include "ta7291p.h" #include "Ping.h" //超音波センサー #define SAFE_DISTANCE 80.0 #define TURN_DISTANCE 60.0 #define STOP_DISTANCE 40.0 //モータードライバー #define FAST_SPEED 1.0 #define NORMAL_SPEED 0.7 #define TURN_SPEED 0.4 #define SLOW_SPEED 0.2 ta7291p mortor1(p25,p24,p26); ta7291p mortor2(p22,p21,p23); Ping Pinger(p30); int main() { int i; float range; while(1) { Pinger.Send(); wait_ms(30); range = Pinger.Read_cm()/2.0; printf("range = %f\r\n",range); //wait(1.0); if(range <= STOP_DISTANCE){ printf("ok1\r\n"); mortor1.rotstop(); mortor2.rotstop(); wait(2.0); for(i=0; i<100; i++) { mortor1.rotf(NORMAL_SPEED); // mortor2.rotf(FAST_SPEED); //mortor2.rotb(FAST_SPEED); wait_ms(30); } } /*else if( (range > STOP_DISTANCE) && (range <= TURN_DISTANCE) ){ printf("ok2\r\n"); mortor1.rotf(NORMAL_SPEED); mortor2.rotf(TURN_SPEED); }*/ else if( (range > TURN_DISTANCE) && (range <= SAFE_DISTANCE) ){ printf("ok3\r\n"); mortor1.rotf(NORMAL_SPEED); mortor2.rotf(NORMAL_SPEED); //mortor1.rotb(NORMAL_SPEED); //mortor2.rotb(NORMAL_SPEED); } else{ printf("ok4\r\n"); mortor1.rotf(FAST_SPEED); mortor2.rotf(FAST_SPEED); //mortor1.rotb(FAST_SPEED); //mortor2.rotb(FAST_SPEED); } } }