Yasushi TAUCHI
m3pi raw sensorを使ったライントレース
main.cpp@0:793aabbce795, 2012-05-21 (annotated)
- Committer:
- yueee_yt
- Date:
- Mon May 21 12:40:58 2012 +0000
- Revision:
- 0:793aabbce795
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| yueee_yt | 0:793aabbce795 | 1 | #include "mbed.h" |
| yueee_yt | 0:793aabbce795 | 2 | #include "m3pi.h" |
| yueee_yt | 0:793aabbce795 | 3 | |
| yueee_yt | 0:793aabbce795 | 4 | m3pi m3pi; |
| yueee_yt | 0:793aabbce795 | 5 | int main() { |
| yueee_yt | 0:793aabbce795 | 6 | unsigned char x[10]; |
| yueee_yt | 0:793aabbce795 | 7 | int i; |
| yueee_yt | 0:793aabbce795 | 8 | while(1) { |
| yueee_yt | 0:793aabbce795 | 9 | m3pi.putc(0x86); |
| yueee_yt | 0:793aabbce795 | 10 | for(i=0;i<10;i++){ |
| yueee_yt | 0:793aabbce795 | 11 | x[i]=m3pi.getc(); |
| yueee_yt | 0:793aabbce795 | 12 | } |
| yueee_yt | 0:793aabbce795 | 13 | m3pi.locate(0,0); |
| yueee_yt | 0:793aabbce795 | 14 | m3pi.printf(" %2x %2x",(x[3]*0x100+x[2])/8,(x[7]*0x100+x[6])/8); |
| yueee_yt | 0:793aabbce795 | 15 | m3pi.locate(0,1); |
| yueee_yt | 0:793aabbce795 | 16 | m3pi.printf("%2x %2x %2x",(x[1]*0x100+x[0])/8,(x[5]*0x100+x[4])/8,(x[9]*0x100+x[8])/8); |
| yueee_yt | 0:793aabbce795 | 17 | if(x[1]*0x100+x[0]>x[9]*0x100+x[8]){ |
| yueee_yt | 0:793aabbce795 | 18 | m3pi.left_motor(0.5); |
| yueee_yt | 0:793aabbce795 | 19 | m3pi.right_motor(0); |
| yueee_yt | 0:793aabbce795 | 20 | }else{ |
| yueee_yt | 0:793aabbce795 | 21 | m3pi.left_motor(0); |
| yueee_yt | 0:793aabbce795 | 22 | m3pi.right_motor(0.5); |
| yueee_yt | 0:793aabbce795 | 23 | } |
| yueee_yt | 0:793aabbce795 | 24 | } |
| yueee_yt | 0:793aabbce795 | 25 | } |