Revision 1:552a34826f55, committed 2016-08-26
- Comitter:
- trieule95
- Date:
- Fri Aug 26 10:03:17 2016 +0000
- Parent:
- 0:b0c572636fc2
- Commit message:
- demo;
Changed in this revision
--- a/main.cpp Mon Aug 15 04:22:20 2016 +0000
+++ b/main.cpp Fri Aug 26 10:03:17 2016 +0000
@@ -189,7 +189,7 @@
else if (adc > 30) cm = adc/8;
else if (adc > 0) cm = adc/7;
- wait(0.001);
+ //wait(0.001);
sensor = sensor + cm;
if(cm == 0) break;
cm = sensor/NOISE;
@@ -211,7 +211,7 @@
uint16_t i, sensor = 0;
for(i=0; i<NOISE; i++) {
- wait(0.001);
+ //wait(0.001);
sensor = sensor + SEN_IR;
}
if(sensor > NOISE/2) return OFF;
@@ -228,7 +228,7 @@
uint16_t i, sensor = 0;
for(i=0; i<NOISE; i++) {
- wait(0.001);
+ //wait(0.001);
sensor = sensor + SEN_UP_L;
}
if(sensor > NOISE/2) return OFF;
@@ -244,7 +244,7 @@
uint16_t i, sensor = 0;
for(i=0; i<NOISE; i++) {
- wait(0.001);
+ //wait(0.001);
sensor = sensor + SEN_UP_R;
}
if(sensor > NOISE/2) return OFF;
@@ -260,7 +260,7 @@
uint16_t i, sensor = 0;
for(i=0; i<NOISE; i++) {
- wait(0.001);
+ //wait(0.001);
sensor = sensor + SEN_DOWN;
}
if(sensor > NOISE/2) return OFF;
@@ -287,9 +287,13 @@
return rand() % 2 == 1;
}
+bool isInDanger(void){
+ return ((sensor_up_left() == OFF) || (sensor_up_right() == OFF) || (sensor_down() == OFF));
+}
+
int main(void)
{
- wait(0.1);
+ //wait(0.1);
//Init Hardware
SEN_UP_L.mode(PullUp);
SEN_UP_R.mode(PullUp);
@@ -298,104 +302,99 @@
led1 = 1; DIR_L = 0; DIR_R = 0; PWM_L = 0; PWM_R = 0;
//Init interupt Timer
ticker.attach(periodicCallback, 0.00015);
- wait(0.5);
- uint8_t start = 1;
+ //wait(0.5);
+ uint8_t sen_in = sensor_ir();
while (true) {
- uint8_t sen_in = sensor_ir();
- //if ( (sen_in > 0) && (sen_in < 30) )
-// {
-// move_up(100, 100);
-// while( (sensor_up_left() == ON) && (sensor_up_right() == ON) );
-// move_down(50, 50);
-// wait(1);
-// if ((sensor_up_left() == OFF) && (sensor_up_right() == OFF))
-// {
-// move_down(30, 30);
-// while ((sensor_up_left() == ON) && (sensor_up_right() == ON));
-// // move_up(50, 50);
-// }
-// if ((sensor_up_left() == OFF) && (sensor_down() == OFF))
-// {
-// move_left_down(100,100);
-// while( (sensor_up_left() == ON) && (sensor_down() == ON) );
-// // move_up(50, 50);
-// }
-// if ((sensor_up_right() == OFF) && (sensor_down() == OFF))
-// {
-// move_right_down(100,100);
-// while( (sensor_up_right() == ON) && (sensor_down() == ON));
-// // move_up(50, 50);
-// }
-// if (sensor_up_left() == OFF)
-// {
-// move_down(100,30);
-// while( sensor_up_left() == ON);
-// }
-// if (sensor_up_right() == OFF)
-// {
-// move_down(30,100);
-// while( sensor_up_right() == ON);
-// }
-// if (sensor_down() == OFF)
-// {
-// move_up(100,100);
-// while( sensor_down() == ON);
-// }
-// }
-// else
-// {
-// if (start == 1)
-// {
-// start = 0;
-// move_up(100,65);
-// }
-// else
-// {
-// rotator_right(20);
-// }
-//
-// while ((sensor_up_left() == OFF) && (sensor_up_right() == OFF))
-// {
-// if (randomBool() == 1)
-// {
-// move_up(70,0);
-// }
-// else
-// {
-// move_up(0,70);
-// }
-// while ((sensor_up_left() == ON) && (sensor_up_right() == ON)) ;
-// // move_up(50, 50);
-// }
-// while ((sensor_up_left() == OFF) && (sensor_down() == OFF))
-// {
-// move_right_down(100,100);
-// while( (sensor_up_left() == ON) && (sensor_down() == ON) );
-// // move_up(50, 50);
-// }
-// while ((sensor_up_right() == OFF) && (sensor_down() == OFF))
-// {
-// move_right_down(100,100);
-// while( (sensor_up_right() == ON) && (sensor_down() == ON));
-// // move_up(50, 50);
-// }
-// while (sensor_up_left() == OFF)
-// {
-// move_down(100,30);
-// while( sensor_up_left() == ON);
-// }
-// while (sensor_up_right() == OFF)
-// {
-// move_down(30,100);
-// while( sensor_up_right() == ON);
-// }
-// while (sensor_down() == OFF)
-// {
-// move_up(100,100);
-// while( sensor_down() == ON);
-// }
-// }
- move_up(100, 100);
- wait(5);
+ sen_in = sensor_ir();
+ if(isInDanger()){
+ g_sts_car = STOP;
+ //if (sensor_down() == OFF && sensor_up_left() == OFF){
+// rotator_right(30);
+// while(sensor_down() == OFF && sensor_up_left() == OFF);
+// uint8_t timer = 0;
+// while(!isInDanger() && timer < 50){
+// //wait(0.01);
+// timer++;
+// }
+// move_up(70,70);
+// while(!isInDanger() && timer < 100){
+// //wait(0.01);
+// timer++;
+// }
+// g_sts_car = STOP;
+// }
+// else if(sensor_down() == OFF && sensor_up_right() == OFF){
+// rotator_left(30);
+// while(sensor_down() == OFF && sensor_up_right() == OFF);
+// uint8_t timer = 0;
+// while(!isInDanger() && timer < 50){
+// //wait(0.01);
+// timer = timer + 1;
+// }
+// move_up(70,70);
+// while(!isInDanger() && timer < 100){
+// //wait(0.01);
+// timer = timer + 1;
+// }
+// g_sts_car = STOP;
+// }
+// else
+ if(sensor_up_left() == OFF && sensor_up_right() == OFF){
+ move_down(100,100);
+ while(sensor_up_left() == OFF && sensor_up_right() == OFF);
+ uint8_t timer = 0;
+ move_down(30,100);
+ while((isInDanger() == false) && timer < 150){
+ wait(0.001);
+ timer++;
+ }
+ g_sts_car = STOP;
+ }
+ else if(sensor_up_left() == OFF){
+ move_down(30,100);
+ while(sensor_up_left() == OFF);
+ uint8_t timer = 0;
+ while((isInDanger() == false) && timer < 150){
+ wait(0.001);
+ timer++;
+ }
+ // move_up(70,70);
+// while((isInDanger() == false) && timer < 40){
+// timer++;
+// }
+ g_sts_car = STOP;
+ }
+ else if(sensor_up_right() == OFF){
+ move_down(100,30);
+ while(sensor_up_right() == OFF);
+ uint8_t timer = 0;
+ while((isInDanger() == false) && timer < 150){
+ wait(0.001);
+ timer++;
+ }
+// move_up(70,70);
+// while((isInDanger() == false) && timer < 40){
+// timer++;
+// }
+ g_sts_car = STOP;
+ }
+ else if (sensor_down() == OFF) {
+ move_up(100,100);
+ while(sensor_down() == OFF);
+ g_sts_car = STOP;
+ }
+ }
+ else{
+ g_sts_car = STOP;
+ if(sen_in > 0 && sen_in <30){
+ move_up(100,100);
+ while((isInDanger() == false) && sensor_ir() > 0 && sensor_ir() <30);
+ g_sts_car = STOP;
+ }
+ else {
+ rotator_right(20);
+ }
+ }
+
}
-}
+}
\ No newline at end of file