tzuli yang
/
robotcar_do_while3
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Dependencies: RemoteIR TextLCD
Diff: main.cpp
- Revision:
- 7:19ebd0851f49
- Parent:
- 6:800a745c7f2e
- Child:
- 8:a47dbf4fa455
diff -r 800a745c7f2e -r 19ebd0851f49 main.cpp
--- a/main.cpp Thu Jul 30 02:18:48 2020 +0000
+++ b/main.cpp Thu Jul 30 04:40:26 2020 +0000
@@ -15,8 +15,8 @@
/* マクロ定義、列挙型定義 */
#define MIN_V 2.0
#define MAX_V 2.67
-#define LOW 0 //
-#define HIGH 1 //
+#define LOW 0
+#define HIGH 1
#define NORMAL 0 // フラグ値
#define FAST 1 // フラグ値
#define VERYFAST 2 // フラグ値
@@ -268,35 +268,49 @@
switch(sensorNum){
case 1:
- run = ADVANCE;
+ if(mode==LINE_TRACE){
+ run = ADVANCE;
+ }
pc.printf("ADVANCE");
break;
case 2:
- run = RIGHT;
+ if(mode==LINE_TRACE){
+ run = RIGHT;
+ }
pc.printf("RIGHT");
break;
case 3:
- run = LEFT;
+ if(mode==LINE_TRACE){
+ run = LEFT;
+ }
pc.printf("LEFT");
break;
case 4:
- flag_sp %= 3 + 3;
- run = RIGHT;
+ if(mode==LINE_TRACE){
+ flag_sp %= 3 + 3;
+ run = RIGHT;
+ }
pc.printf("RIGHT");
break;
case 5:
- flag_sp %= 3 + 3;
- run = LEFT;
+ if(mode==LINE_TRACE){
+ flag_sp %= 3 + 3;
+ run = LEFT;
+ }
pc.printf("LEFT");
break;
case 6:
- flag_sp %= 3 + 6;
- run = RIGHT;
+ if(mode==LINE_TRACE){
+ flag_sp %= 3 + 6;
+ run = RIGHT;
+ }
pc.printf("RIGHT");
break;
case 7:
- flag_sp %= 3 + 6;
- run = LEFT;
+ if(mode==LINE_TRACE){
+ flag_sp %= 3 + 6;
+ run = LEFT;
+ }
pc.printf("LEFT");
break;
}
@@ -313,10 +327,12 @@
while(1){
if(mode==AVOIDANCE){
pc.printf("avoidance\r\n");
- pc.printf("%d %d %d %d %d \r\n",SL,SLD,SC,SRD,SR);
+ watchsurrounding();
+ pc.printf("%d %d %d %d %d \r\n",SL,SLD,SC,SRD,SR); a:
if(flag_a == 0){ // 障害物がない場合
- run = ADVANCE; // 前進
+ if(mode==AVOIDANCE)
+ run = ADVANCE; // 前進
}
else{ // 障害物がある場合
i = 0;
@@ -411,7 +427,6 @@
}
pc.printf("こんにちは！\r\n");
flag_a = 0; // フラグを0にセット
- watchsurrounding();
pc.printf(" avoidance\r\n");
}else{
ThisThread::sleep_for(1);
@@ -452,19 +467,28 @@
pc.printf("watchsurrounding\r\n");
SC = watch();
if(SC < limit){ // 正面20cm以内に障害物がある場合
- run = STOP; // 停止
+ if(mode==AVOIDANCE)
+ run = STOP; // 停止
+ else
+ return;
}
servo.pulsewidth_us(1925); // サーボを左に40度回転
ThisThread::sleep_for(250); // 250ms待つ
SLD = watch();
if(SLD < limit){ // 左前20cm以内に障害物がある場合
- run = STOP; // 停止
+ if(mode==AVOIDANCE)
+ run = STOP; // 停止
+ else
+ return;
}
servo.pulsewidth_us(2400); // サーボを左に90度回転
ThisThread::sleep_for(250); // 250ms待つ
SL = watch();
if(SL < limit){ // 左20cm以内に障害物がある場合
- run = STOP; // 停止
+ if(mode==AVOIDANCE)
+ run = STOP; // 停止
+ else
+ return;
}
servo.pulsewidth_us(1450);
ThisThread::sleep_for(100);
@@ -472,13 +496,19 @@
ThisThread::sleep_for(250); // 250ms待つ
SRD = watch();
if(SRD < limit){ // 右前20cm以内に障害物がある場合
- run = STOP; // 停止
+ if(mode==AVOIDANCE)
+ run = STOP; // 停止
+ else
+ return;
}
servo.pulsewidth_us(500); // サーボを右に90度回転
ThisThread::sleep_for(250); // 250ms待つ
SR = watch();
if(SR < limit){ // 右20cm以内に障害物がある場合
- run = STOP; // 停止
+ if(mode==AVOIDANCE)
+ run = STOP; // 停止
+ else
+ return;
}
servo.pulsewidth_us(1450); // サーボを中央位置に戻す
ThisThread::sleep_for(100); // 100ms待つ