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| 1 | #include <popx2.h> // POP-X2 Board | |
| 2 | int speed = 55, del = 280; | |
| 3 | float var = 0.96; | |
| 4 | int s1, s2, s3; | |
| 5 | ||
| 6 | void setup() {
| |
| 7 | glcdMode(1); | |
| 8 | setTextSize(3); | |
| 9 | servo(1,120); | |
| 10 | // while(!(sw_ok())) | |
| 11 | // {
| |
| 12 | // var = knob(95,120); | |
| 13 | // var = var/100; | |
| 14 | // glcdClear(); | |
| 15 | // glcd(1,0,"%f",var); | |
| 16 | // } | |
| 17 | // delay(1); | |
| 18 | // while(!(sw_ok())) | |
| 19 | // {
| |
| 20 | // speed = knob(45,60); | |
| 21 | // glcdClear(); | |
| 22 | // glcd(1,0,"%d",speed); | |
| 23 | // } | |
| 24 | OK(); | |
| 25 | glcdClear(); | |
| 26 | delay(1000); | |
| 27 | RR(); | |
| 28 | RR(); | |
| 29 | RR(); | |
| 30 | LL(); | |
| 31 | track(); | |
| 32 | drop(); //green | |
| 33 | BL(); | |
| 34 | RR(); | |
| 35 | RR(); | |
| 36 | track(); | |
| 37 | drop(); //blue | |
| 38 | bk2(speed*var,speed); | |
| 39 | delay(300); | |
| 40 | fd2(speed*var,-speed); | |
| 41 | delay(del*2); | |
| 42 | LL(); | |
| 43 | fd2(speed*var,speed); | |
| 44 | delay(1500); | |
| 45 | fd2(speed*var,-speed); | |
| 46 | delay(del); | |
| 47 | RR(); | |
| 48 | track(); | |
| 49 | drop(); //red | |
| 50 | fd2(speed*var,-speed); | |
| 51 | delay(del*2-30); | |
| 52 | track(); | |
| 53 | drop(); //yellow | |
| 54 | fd2(-speed*var*1.05,-speed); | |
| 55 | delay(750); | |
| 56 | fd2(-speed*var,speed); | |
| 57 | delay(del+20); | |
| 58 | RR(); | |
| 59 | LL(); | |
| 60 | LL(); | |
| 61 | RR(); | |
| 62 | track(); | |
| 63 | fd2(-speed*var,-speed); | |
| 64 | delay(1000); | |
| 65 | fd2(speed*var,-speed); | |
| 66 | delay(del); | |
| 67 | fd2(speed*var,speed); | |
| 68 | delay(800); | |
| 69 | fd2(-speed*var,speed); | |
| 70 | delay(del); | |
| 71 | track(); | |
| 72 | fd2(speed*var,speed); | |
| 73 | delay(400); | |
| 74 | RR(); | |
| 75 | RR(); | |
| 76 | LL(); | |
| 77 | LL(); | |
| 78 | LL(); | |
| 79 | track(); | |
| 80 | ao(); | |
| 81 | } | |
| 82 | ||
| 83 | void track() | |
| 84 | {
| |
| 85 | while(true) | |
| 86 | {
| |
| 87 | s1 = analogRead(0); | |
| 88 | s2 = analogRead(1); | |
| 89 | s3 = analogRead(2); | |
| 90 | if(s1 >= 512 && s2 >= 512) | |
| 91 | {
| |
| 92 | fd2(65*0.99,65); | |
| 93 | } | |
| 94 | else if(s1 <= 512 && s2 >= 512) | |
| 95 | {
| |
| 96 | fd2(speed*var,speed/3); | |
| 97 | } | |
| 98 | else if(s1 >= 512 && s2 <= 512) | |
| 99 | {
| |
| 100 | fd2(speed*var/3,speed); | |
| 101 | } | |
| 102 | if(s3 < 440) | |
| 103 | {
| |
| 104 | break; | |
| 105 | } | |
| 106 | } | |
| 107 | check(); | |
| 108 | } | |
| 109 | ||
| 110 | void check() | |
| 111 | {
| |
| 112 | while(true) | |
| 113 | {
| |
| 114 | s1 = analogRead(0); | |
| 115 | s2 = analogRead(1); | |
| 116 | s3 = analogRead(2); | |
| 117 | if(s1 >= 512 && s2 >= 512) | |
| 118 | {
| |
| 119 | fd2(speed*var/2,speed/2); | |
| 120 | } | |
| 121 | else if(s1 >= 512 && s2 <= 512) | |
| 122 | {
| |
| 123 | fd2(speed*var*2.18/2,speed/2.5); | |
| 124 | } | |
| 125 | else if(s1 <= 512 && s2 >= 512) | |
| 126 | {
| |
| 127 | fd2(speed*var/2.5,speed*2.18/2); | |
| 128 | } | |
| 129 | else | |
| 130 | {
| |
| 131 | break; | |
| 132 | } | |
| 133 | } | |
| 134 | } | |
| 135 | ||
| 136 | void RR() | |
| 137 | {
| |
| 138 | track(); | |
| 139 | fd2(-speed*var,-speed); | |
| 140 | delay(150); | |
| 141 | fd2(speed*var,-speed); | |
| 142 | delay(del); | |
| 143 | ao(); | |
| 144 | delay(200); | |
| 145 | } | |
| 146 | ||
| 147 | void BL() | |
| 148 | {
| |
| 149 | fd2(-speed*var*1.05,-speed); | |
| 150 | delay(800); | |
| 151 | fd2(-speed*var,speed); | |
| 152 | delay(del); | |
| 153 | delay(20); | |
| 154 | track(); | |
| 155 | fd2(speed*var,speed); | |
| 156 | delay(400); | |
| 157 | s1 = analogRead(0); | |
| 158 | s2 = analogRead(1); | |
| 159 | while(true) | |
| 160 | {
| |
| 161 | s1 = analogRead(0); | |
| 162 | s2 = analogRead(1); | |
| 163 | if(s1 <= 512 && s2 <= 512) | |
| 164 | {
| |
| 165 | fd2(speed*var,speed); | |
| 166 | } | |
| 167 | else if(s1 <= 512 && s2 >= 512) | |
| 168 | {
| |
| 169 | fd2(speed*var,-speed); | |
| 170 | } | |
| 171 | else if(s1 >= 512 && s2 <= 512) | |
| 172 | {
| |
| 173 | fd2(-speed*var,speed); | |
| 174 | } | |
| 175 | else | |
| 176 | {
| |
| 177 | break; | |
| 178 | } | |
| 179 | } | |
| 180 | } | |
| 181 | ||
| 182 | void LL() | |
| 183 | {
| |
| 184 | track(); | |
| 185 | fd2(-speed*var,-speed); | |
| 186 | delay(150); | |
| 187 | fd2(-speed*var,speed); | |
| 188 | delay(del); | |
| 189 | ao(); | |
| 190 | delay(200); | |
| 191 | } | |
| 192 | ||
| 193 | void drop() | |
| 194 | {
| |
| 195 | fd2(-speed*var,-speed); | |
| 196 | delay(400); | |
| 197 | ao(); | |
| 198 | servo(1,0); | |
| 199 | delay(600); | |
| 200 | servo(1,150); | |
| 201 | delay(800); | |
| 202 | servo(1,120); | |
| 203 | } | |
| 204 | ||
| 205 | void loop() {
| |
| 206 | } |
