Diff: main.cpp

Revision:

2:22b099fbdd14

Parent:

1:d6c8be12a3de

--- a/main.cpp	Tue Mar 05 09:45:33 2013 +0000
+++ b/main.cpp	Fri Mar 08 03:49:58 2013 +0000
@@ -3,8 +3,10 @@
 #define IR_TIME_NOTFOUND 833    /* 見つけられなかったと判断するまでの時間(単位：us) */
 #define IR_COUNTMAX 487     /*最大パルス幅 パルスの存在しうる最大時間は487us*/
 #define ALL_IR 9
+#define DIREC_IR 8
 #define DIRECTION 16
 #define TERM 0
+#define DELTA -2
 #define SWAP(type,a,b) { type temp = a; a = b; b = temp; }
 
 Serial pc(USBTX, USBRX); // tx, rx
@@ -49,14 +51,14 @@
 
 int moving_ave(int data,int active_ir)
 {
-    static int tmp[14][ALL_IR]= {{0,0}};
+    static int tmp[12][ALL_IR]= {{0,0}};
     static int sum[ALL_IR] = {0};
     int count = 0;
 
-    sum[active_ir] -= tmp[13][active_ir];
+    sum[active_ir] -= tmp[11][active_ir];
     sum[active_ir] += data;
-    tmp[13][active_ir] = tmp[12][active_ir];
-    tmp[12][active_ir] = tmp[11][active_ir];
+    //tmp[13][active_ir] = tmp[12][active_ir];
+    //tmp[12][active_ir] = tmp[11][active_ir];
     tmp[11][active_ir] = tmp[10][active_ir];
     tmp[10][active_ir] = tmp[9][active_ir];
     tmp[9][active_ir] = tmp[8][active_ir];
@@ -70,7 +72,7 @@
     tmp[1][active_ir] = tmp[0][active_ir];
     tmp[0][active_ir] = data;
     
-    for(int i=0;i<14;i++){
+    for(int i=0;i<12;i++){
         if(tmp[i][active_ir])count++;
     }
 
@@ -124,7 +126,8 @@
                 if((timer_ir.read_us()-memory_ir)>=IR_TIME_NOTFOUND)break;
 
                 if(!(sensor_ir)) {
-                    value = moving_ave( (timer_ir.read_us()-memory_ir)/10 , active_ir );
+                    //value = moving_ave( (timer_ir.read_us()-memory_ir)/10 , active_ir );
+                    value = (timer_ir.read_us()-memory_ir)/10;
 
                     break;
                 }
@@ -149,7 +152,7 @@
     
             int min = 100,youso_min = 100;
     
-            for(int i = 0; i<ALL_IR; i++) {
+            for(int i = 0; i<DIREC_IR; i++) {
                 if((ir_value[i]<min)&&(ir_value[i])) {
                     min = ir_value[i];
                     youso_min = i;
@@ -178,9 +181,9 @@
                 direc = youso_min*2;
             }
             
-            if(youso_min == 0){
+            /*if(youso_min == 0){
                 direc = 0;   
-            }
+            }*/
     
             /*******  direction end  *******/
     
@@ -188,9 +191,7 @@
     
             int dista;
             
-            if((ir_value[youso_min]>0)&&(ir_value[youso_min]<=25 + TERM)){
-                dista = 10;
-            }else if((ir_value[youso_min]>25 + TERM)&&(ir_value[youso_min]<=28 + TERM)) {
+            if((ir_value[youso_min]<=28 + TERM)) {
                 dista = 30;
             } else if((ir_value[youso_min]>28 + TERM)&&(ir_value[youso_min]<=35 + TERM)) {
                 dista = 90;
@@ -202,42 +203,55 @@
                 dista = 0;
             }
             
-            if(dista <= 30){
-                if((direc == 0)&&(ir_value[8] <= 30)){
-                    dista = 10;
-                }else if((direc == 1)&&(ir_value[8] <= 30 )){
-                    dista = 10;
-                }else if((direc == 2)&&(ir_value[8] <= 40 )){
-                    dista = 10;
-                }else if((direc == 3)&&(ir_value[8] <= 43)){
-                    dista = 10;
-                }else if((direc == 4)&&(ir_value[8] <= 42)){
-                    dista = 10;
-                }else if((direc == 5)&&(ir_value[8] <= 42)){
-                    dista = 10;
-                }else if((direc == 6)&&(ir_value[8] <= 42)){
-                    dista = 10;
-                }else if((direc == 7)&&(ir_value[8] <= 40)){
-                    dista = 10;
-                }else if((direc == 8)&&(ir_value[8] <= 38)){
-                    dista = 10;
-                }else if((direc == 9)&&(ir_value[8] <= 34)){
-                    dista = 10;
-                }else if((direc == 10)&&(ir_value[8] <= 40)){
-                    dista = 10;
-                }else if((direc == 11)&&(ir_value[8] <= 42)){
-                    dista = 10;
-                }else if((direc == 12)&&(ir_value[8] <= 39)){
-                    dista = 10;
-                }else if((direc == 13)&&(ir_value[8] <= 40)){
-                    dista = 10;
-                }else if((direc == 14)&&(ir_value[8] <= 41)){
-                    dista = 10;
-                }else if((direc == 15)&&(ir_value[8] <= 33)){
-                    dista = 10;
+            int count_ir = 0,total_ir = 0;
+            
+            for(int i=0; i<DIREC_IR; i++){
+                if(ir_value[i]){
+                    total_ir += ir_value[i];
+                    count_ir++;
                 }
-            }       
+            }
+            
+            double hihhihi = 0;
+            
+            hihhihi = (double)ir_value[youso_min]/(double)ir_value[8];
+            
             
+            if((direc == 0)&&(hihhihi  >= 0.80)){
+                dista = 10;
+            }else if((direc == 1)&&(hihhihi  >= 0.80)){
+                dista = 10;
+            }else if((direc == 2)&&(hihhihi  >= 0.65)){
+                dista = 10;
+            }else if((direc == 3)&&(hihhihi  >= 0.65)){
+                dista = 10;
+            }else if((direc == 4)&&(hihhihi  >= 0.80)){
+                dista = 10;
+            }else if((direc == 5)&&(hihhihi  >= 0.65)){
+                dista = 10;
+            }else if((direc == 6)&&(hihhihi  >= 0.65)){
+                dista = 10;
+            }else if((direc == 7)&&(hihhihi  >= 0.80)){
+                dista = 10;
+            }else if((direc == 8)&&(hihhihi  >= 0.80)){
+                dista = 10;
+            }else if((direc == 9)&&(hihhihi  >= 0.80)){
+                dista = 10;
+            }else if((direc == 10)&&(hihhihi  >= 0.65)){
+                dista = 10;
+            }else if((direc == 11)&&(hihhihi  >= 0.65)){
+                dista = 10;
+            }else if((direc == 12)&&(hihhihi  >= 0.80)){
+                dista = 10;
+            }else if((direc == 13)&&(hihhihi  >= 0.65)){
+                dista = 10;
+            }else if((direc == 14)&&(hihhihi  >= 0.65)){
+                dista = 10;
+            }else if((direc == 15)&&(hihhihi  >= 0.80)){
+                dista = 10;
+            }  
+            
+
             /********  distance end  *******/
             
             *direction = Convert_Direction[direc];