Yasushi TAUCHI
/
m3pi_raw_line
m3pi raw sensorを使ったライントレース
main.cpp
- Committer:
- yueee_yt
- Date:
- 2012-05-21
- Revision:
- 0:793aabbce795
File content as of revision 0:793aabbce795:
#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); } } }