Yasushi TAUCHI
m3pi raw sensorを使ったライントレース
Diff: main.cpp
- Revision:
- 0:793aabbce795
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Mon May 21 12:40:58 2012 +0000
@@ -0,0 +1,25 @@
+#include "mbed.h"
+#include "m3pi.h"
+
+m3pi m3pi;
+int main() {
+ unsigned char x[10];
+ int i;
+ while(1) {
+ m3pi.putc(0x86);
+ for(i=0;i<10;i++){
+ x[i]=m3pi.getc();
+ }
+ m3pi.locate(0,0);
+ m3pi.printf(" %2x %2x",(x[3]*0x100+x[2])/8,(x[7]*0x100+x[6])/8);
+ m3pi.locate(0,1);
+ m3pi.printf("%2x %2x %2x",(x[1]*0x100+x[0])/8,(x[5]*0x100+x[4])/8,(x[9]*0x100+x[8])/8);
+ if(x[1]*0x100+x[0]>x[9]*0x100+x[8]){
+ m3pi.left_motor(0.5);
+ m3pi.right_motor(0);
+ }else{
+ m3pi.left_motor(0);
+ m3pi.right_motor(0.5);
+ }
+ }
+}