大季 矢花 / Mbed 2 deprecated MB2019_main_ver3-lidar

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Dependencies:   mbed

Files at this revision

API Documentation at this revision

Revision 40:461a08f581b6, committed 2019-11-05

Comitter:
yabahiro
Date:
Tue Nov 05 20:42:28 2019 +0000
Parent:
39:784552c26163
Commit message:
aa; ;

Changed in this revision

System/Process/Process.cpp Show annotated file Show diff for this revision Revisions of this file
System/Process/Process.h Show annotated file Show diff for this revision Revisions of this file 
--- a/System/Process/Process.cpp	Tue Nov 05 08:38:32 2019 +0000
+++ b/System/Process/Process.cpp	Tue Nov 05 20:42:28 2019 +0000
@@ -279,7 +279,7 @@
             if(ZoneSW) {
                 countss=0;
                 mode=1;
-                current = 4;//10GATU30変更した
+                current = 3;//10GATU30変更した
 
             } else {
                 countss = 0;
@@ -1915,6 +1915,35 @@
 //Clearly 赤ゾーン
     LED::LED::TapeledMode(3);
     countss++;
+    if(mode==1) {
+        motor[TIRE_FR].pwm = fast;
+        motor[TIRE_FR].dir = BACK;
+        motor[TIRE_FL].pwm = fast;
+        motor[TIRE_FL].dir = FOR;
+        motor[TIRE_BR].pwm = fast;
+        motor[TIRE_BR].dir = BACK;
+        motor[TIRE_BL].pwm = fast;
+        motor[TIRE_BL].dir = FOR;
+        if(LIDAR) {
+            mode=2;
+        }
+    }
+    if(mode==2) {
+        motor[TIRE_FR].pwm = slow;
+        motor[TIRE_FR].dir = BACK;
+        motor[TIRE_FL].pwm = slow;
+        motor[TIRE_FL].dir = FOR;
+        motor[TIRE_BR].pwm = slow;
+        motor[TIRE_BR].dir = BACK;
+        motor[TIRE_BL].pwm = slow;
+        motor[TIRE_BL].dir = FOR;
+        if(g[2]==0) {
+            countss=0;
+            cross=0;
+            mode=20;
+        }
+    }
+    /*
     if(mode==1) {//スタートゾーンから白線検知
         fast=40;
         normal=30;
@@ -2092,7 +2121,9 @@
             cross=0;
             mode=20;
         }
-    } else if(mode==20) {
+    }
+    */
+    if(mode==20) {
         solenoid.solenoid4= SOLENOID_ON;
         switch(g[2]) {
             case 98:

--- a/System/Process/Process.h	Tue Nov 05 08:38:32 2019 +0000
+++ b/System/Process/Process.h	Tue Nov 05 20:42:28 2019 +0000
@@ -12,17 +12,18 @@
 #define TIRE_FR 3
 #define MOTOR_0 4
 
-#define StertSW LimitSw::IsPressed(12) //スタートスイッチ
+#define DOLS    LimitSw::IsPressed(0) //上下機構下部リミット
+#define LIB     LimitSw::IsPressed(1) //フェンス用リミット２
 #define ZoneSW  LimitSw::IsPressed(2) //赤・青ゾーン用スイッチ
 #define ThSW    LimitSw::IsPressed(3) //シーツタオルスイッチ
-#define DWSW    LimitSw::IsPressed(15) //上下機構上移動スイッチ
-#define DOSW    LimitSw::IsPressed(14) //上下機構下移動スイッチ
-#define AIRSW    LimitSw::IsPressed(4) //エアートリガー
+#define AIRSW   LimitSw::IsPressed(4) //エアートリガー
+#define UPLS2   LimitSw::IsPressed(5) //上下機構リミット２
+#define LIDAR   LimitSw::IsPressed(7) //ライダー壁検知用ピン
+#define LIF     LimitSw::IsPressed(10) //フェンス用リミット１
 #define UPLS    LimitSw::IsPressed(11) //上下機構リミット１
-#define UPLS2    LimitSw::IsPressed(5) //上下機構リミット２
-#define YELLOW    LimitSw::IsPressed(13) //掛けるときのライントレース切り替え
-#define LIF    LimitSw::IsPressed(10) //フェンス用リミット１
-#define LIB    LimitSw::IsPressed(1) //フェンス用リミット２
-#define DOLS    LimitSw::IsPressed(0) //上下機構下部リミット
+#define StertSW LimitSw::IsPressed(12) //スタートスイッチ
+#define YELLOW  LimitSw::IsPressed(13) //掛けるときのライントレース切り替え
+#define DOSW    LimitSw::IsPressed(14) //上下機構下移動スイッチ
+#define DWSW    LimitSw::IsPressed(15) //上下機構上移動スイッチ  
 
 #endif