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team-ncxx-sl: Commit


Commit MetaInfo

Revision443 (tree)
Zeit2020-10-03 12:28:20
Autorncxx-watanabe

Log Message

スラローム更新

Ändern Zusammenfassung

Diff

--- trunk/workspace/slarom/app.c (revision 442)
+++ trunk/workspace/slarom/app.c (revision 443)
@@ -10,7 +10,7 @@
1010
1111 #include "ev3api.h"
1212 #include "app.h"
13-/*#include "etroboc_ext.h"*/
13+#include "etroboc_ext.h"
1414 #include <math.h>
1515 #include <stdio.h>
1616 #include <stdlib.h>
@@ -245,8 +245,8 @@
245245 /*右前進、左後退後次モード移行 20200815*/
246246 if(slarom_mode == SLAROM_TURNING_FIRST)
247247 {
248- /*_log("SLAROM_TURNING_FIRST");*/
249- if((turn_count < 175))
248+ //_log("SLAROM_TURNING_FIRST");
249+ if((turn_count < 190))
250250 {
251251 /*右輪前進*/
252252 forward = 30;
@@ -269,7 +269,7 @@
269269 {
270270 if(straight_count < 450)
271271 {
272- /*_log("SLAROM_GO_STRAIGHT_FIRST");*/
272+ //_log("SLAROM_GO_STRAIGHT_FIRST");
273273 forward = 25;
274274 turn = 0;
275275 straight_count++;
@@ -278,7 +278,7 @@
278278 {
279279 if(wait_count < 200)
280280 {
281- /*_log("SLAROM_GO_STRAIGHT_FIRST_WEIT");*/
281+ // _log("SLAROM_GO_STRAIGHT_FIRST_WEIT");
282282 forward = 0;
283283 turn = 0;
284284 wait_count++;
@@ -294,11 +294,11 @@
294294 /*右輪後退後次モード移行 20200815*/
295295 else if(slarom_mode == SLAROM_TURNING_SECOND)
296296 {
297- /*_log("SLAROM_TURNING_SECOND");*/
297+ //_log("SLAROM_TURNING_SECOND");
298298 //if(turn_count < 240)
299299 if((turn_count < 250))
300300 {
301- /*右輪後退*/
301+ /*右輪前進*/
302302 forward = -20;
303303 turn = -100 * _EDGE;
304304 turn_count++;
@@ -308,11 +308,11 @@
308308 forward = -30;
309309 turn = -100 * _EDGE;
310310 //turn_count++;
311- /*_log("検知してない");*/
311+ _log("検知してない");
312312 }
313313 else if(wait_count < 100)
314314 {
315- /*_log("SLAROM_TURNING_SECOND_WEIT");*/
315+ // _log("SLAROM_TURNING_SECOND_WEIT");
316316 forward = 0;
317317 turn = 0;
318318 wait_count++;
@@ -327,7 +327,7 @@
327327 /*障害物検知するまで直進。検知後次モード移行 20200815*/
328328 else if(slarom_mode == SLAROM_OBSTACLE_DETECTION_SECOND)
329329 {
330- /*_log("SLAROM_OBSTACLE_DETECTION_SECOND");*/
330+ //_log("SLAROM_OBSTACLE_DETECTION_SECOND");
331331 forward = 23;
332332 turn = 0;
333333 if (sonar_alert() == 1) /* 障害物検知 */
@@ -334,7 +334,7 @@
334334 {
335335 if(wait_count < 200)
336336 {
337- /*_log("SLAROM_OBSTACLE_DETECTION_SECOND_WEIT");*/
337+ //_log("SLAROM_OBSTACLE_DETECTION_SECOND_WEIT");
338338 forward = 0;
339339 turn = 0;
340340 wait_count++;
@@ -348,8 +348,8 @@
348348 /*右後退、左前進後次モード移行 20200815*/
349349 else if(slarom_mode == SLAROM_TURNING_THIRD)
350350 {
351- /*_log("SLAROM_TURNING_THIRD");*/
352- if(turn_count < 225)
351+ //_log("SLAROM_TURNING_THIRD");
352+ if(turn_count < 200)
353353 {
354354 forward = 30;
355355 turn = 100 * _EDGE;
@@ -374,7 +374,7 @@
374374 {
375375 if(straight_count < 450)
376376 {
377- /*_log("SLAROM_GO_STRAIGHT_SECOND");*/
377+ //_log("SLAROM_GO_STRAIGHT_SECOND");
378378 forward = 25;
379379 turn = 0;
380380 straight_count++;
@@ -383,7 +383,7 @@
383383 {
384384 if(wait_count < 350)
385385 {
386- /*_log("SLAROM_GO_STRAIGHT_SECOND_WEIT");*/
386+ //_log("SLAROM_GO_STRAIGHT_SECOND_WEIT");
387387 forward = 0;
388388 turn = 0;
389389 wait_count++;
@@ -399,7 +399,7 @@
399399 /*右輪後退後次モード移行 20200815*/
400400 else if(slarom_mode == SLAROM_TURNING_4TH)
401401 {
402- /*_log("SLAROM_TURNING_4TH");*/
402+ //_log("SLAROM_TURNING_4TH");
403403 /*左タイヤ後退*/
404404 if(turn_count < 150)
405405 {
@@ -408,7 +408,7 @@
408408 turn_count++;
409409 }
410410 /*右タイヤ前進*/
411- else if((turn_count >= 150) && (turn_count < 300))
411+ else if((turn_count >= 150) && (turn_count < 400))
412412 {
413413 forward = 20;
414414 turn = -100 * _EDGE;
@@ -429,7 +429,7 @@
429429 }
430430 else if(slarom_mode == SLAROM_OBSTACLE_DETECTION_THIRD)
431431 {
432- /*_log("SLAROM_OBSTACLE_DETECTION_THIRD");*/
432+ //_log("SLAROM_OBSTACLE_DETECTION_THIRD");
433433 forward = 20;
434434 turn = 0;
435435 if (sonar_alert() == 1) /* 障害物検知 */
@@ -440,8 +440,8 @@
440440 }
441441 else if(slarom_mode == SLAROM_TURNING_5th)
442442 {
443- /*_log("SLAROM_TURNING_5th");*/
444- if(turn_count < 175)
443+ //_log("SLAROM_TURNING_5th");
444+ if(turn_count < 150)
445445 {
446446 /*左輪後退*/
447447 forward = -30;
@@ -448,7 +448,7 @@
448448 turn = 100 * _EDGE;
449449 turn_count++;
450450 }
451- else if((turn_count >= 200) && (turn_count < 210))
451+ else if((turn_count >= 150) && (turn_count < 160))
452452 {
453453 /*右輪前進*/
454454 forward = 30;
@@ -466,7 +466,7 @@
466466 {
467467 if(straight_count < 650)
468468 {
469- /*_log("SLAROM_GO_STRAIGHT_THIRD");*/
469+ //_log("SLAROM_GO_STRAIGHT_THIRD");
470470 forward = 25;
471471 turn = 0;
472472 straight_count++;
@@ -475,7 +475,7 @@
475475 {
476476 if(wait_count < 200)
477477 {
478- /*_log("SLAROM_GO_STRAIGHT_THIRD_WEIT");*/
478+ //_log("SLAROM_GO_STRAIGHT_THIRD_WEIT");
479479 forward = 0;
480480 turn = 0;
481481 wait_count++;
@@ -491,7 +491,7 @@
491491 /*右輪後退後次モード移行 20200815*/
492492 else if(slarom_mode == SLAROM_TURNING_6th)
493493 {
494- /*_log("SLAROM_TURNING_6th");*/
494+ //_log("SLAROM_TURNING_6th");
495495 if(turn_count < 350)
496496 {
497497 forward = -35;
@@ -508,7 +508,7 @@
508508 {
509509 if(straight_count < 700)
510510 {
511- /*log("SLAROM_GO_STRAIGHT_4th");*/
511+ //_log("SLAROM_GO_STRAIGHT_4th");
512512 forward = 25;
513513 turn = 0;
514514 straight_count++;
@@ -517,7 +517,7 @@
517517 {
518518 if(wait_count < 200)
519519 {
520- /*_log("SLAROM_GO_STRAIGHT_4th");*/
520+ //_log("SLAROM_GO_STRAIGHT_4th");
521521 forward = 0;
522522 turn = 0;
523523 wait_count++;
@@ -532,8 +532,8 @@
532532 }
533533 else if(slarom_mode == SLAROM_TURNING_7th)
534534 {
535- /*_log("SLAROM_TURNING_6th");*/
536- if(turn_count < 400)
535+ //_log("SLAROM_TURNING_6th");
536+ if(turn_count < 300)
537537 {
538538 forward = 20;
539539 turn = 100 * _EDGE;
@@ -548,20 +548,21 @@
548548 else if(slarom_mode == SLAROM_LINE_TRACE)
549549 {
550550
551- /*_log("SLAROM_LINE_TRACE");*/
551+ //_log("SLAROM_LINE_TRACE");
552552 /* カラー値取得 20200815 */
553553 color_sensor_reflect = ev3_color_sensor_get_reflect(color_sensor);
554554 sprintf(&color_sensor_reflect_char, "数値：%ld", color_sensor_reflect);
555- /*_log(&color_sensor_reflect_char);*/
555+ _log(&color_sensor_reflect_char);
556556 if(count < 1000)
557557 {
558- ev3_motor_set_power(EV3_PORT_D, 75);
558+ forward = 10;
559+ //ev3_motor_set_power(EV3_PORT_D, 75);
559560 count++;
560561 }
561562 else if(count < 100000)
562563 {
563- forward = 15; /* 前進命令 */
564- if (ev3_color_sensor_get_reflect(color_sensor) >= 6)
564+ forward = 10; /* 前進命令 */
565+ if ((ev3_color_sensor_get_reflect(color_sensor) >= 19) && (ev3_color_sensor_get_reflect(color_sensor) <= 23))
565566 {
566567 turn = -90 * _EDGE; /* 右旋回命令　(右コースは逆) */
567568 }
@@ -573,7 +574,7 @@
573574 }
574575 else
575576 {
576- /*_log("終了");*/
577+ _log("終了");
577578 forward = 0;
578579 turn = 0 * _EDGE;
579580 }
@@ -580,7 +581,7 @@
580581 }
581582 else if(count < 600)
582583 {
583- /*_log("LINE_TRACE");*/
584+ //_log("LINE_TRACE");
584585
585586 ev3_motor_set_power(EV3_PORT_A, -75);
586587 forward = 15; /* 前進命令 */
@@ -604,7 +605,7 @@
604605 /*シミュレーターリセット時初期化処理 20200815*/
605606 else
606607 {
607- /*_log("初期化");*/
608+ //_log("初期化");
608609 forward = 20;
609610 turn = 0 * _EDGE;
610611 ev3_motor_set_power(EV3_PORT_A, 75);
@@ -685,8 +686,8 @@
685686 }
686687
687688 /* 障害物までの距離取得 20200815 */
688- /*snprintf(distance_char,25,"距離：%d",distance);*/
689- /*printf(distance_char);*/
689+ //snprintf(distance_char,25,"距離：%d",distance);
690+ //printf(distance_char);
690691
691692 if ((slarom_mode == SLAROM_TURNING_FIRST) && (distance >= SONAR_ALERT_DISTANCE_FIRST_TURN) && (distance >= 0))
692693 {
@@ -704,7 +705,7 @@
704705 alert = 1; /* 障害物を検知 */
705706 //_log("う");
706707 }
707- else if((slarom_mode == SLAROM_TURNING_4TH) && (distance - distance_before <= -3) && (distance >= 0))
708+ else if((slarom_mode == SLAROM_TURNING_4TH) && (distance - distance_before <= 50) && (distance >= 0))
708709 {
709710 alert = 1; /* 障害物を検知 */
710711 //_log("え");
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