tokai_ex4のようなキャリブレーションを適当に実装してライントレースできるようにした。

[tondenhei/et2013.git] / main.cpp

diff --git a/main.cpp b/main.cpp
index e0ea1b3..e979f1c 100644 (file)
--- a/main.cpp
+++ b/main.cpp
@@ -64,6 +64,68 @@ TASK(TaskMain)
        lcd.putf("s", "Hello World");\r
        lcd.disp();\r
 \r
+       // TODO:\82Æ\82è\82 \82¦\82¸\82Ì\83L\83\83\83\8a\83u\83\8c\81[\83V\83\87\83\93\r
+       static const int sum_num = 256;\r
+       unsigned long sum = 0;\r
+       char str[16+1];\r
+       // \83W\83\83\83C\83\8d\r
+       while(!touch.isPressed()){\r
+       }\r
+       while(touch.isPressed()){\r
+       }\r
+       for(int i=0;i<sum_num;i++){\r
+               sum += gyro.get();\r
+               clock.wait(10);\r
+       }\r
+       unsigned long offset = sum / sum_num;\r
+       runner.SetGyroOffset(offset);\r
+       tsprintf(str,"Offset = %d",offset);\r
+       lcd.cursor(0,1);\r
+       lcd.putf("s",str);\r
+       lcd.disp();\r
+       speaker.playTone(1000,100,50);\r
+\r
+       // \94\92\r
+       while(!touch.isPressed()){\r
+       }\r
+       while(touch.isPressed()){\r
+       }\r
+       sum = 0;\r
+       for(int i=0;i<sum_num;i++){\r
+               sum += light.getBrightness();\r
+               clock.wait(10);\r
+       }\r
+       unsigned long white = sum / sum_num;\r
+       linepos.SetWhite(white);\r
+       tsprintf(str,"White = %d",white);\r
+       lcd.cursor(0,2);\r
+       lcd.putf("s",str);\r
+       lcd.disp();\r
+       speaker.playTone(1200,100,50);\r
+\r
+       // \8d\95\r
+       while(!touch.isPressed()){\r
+       }\r
+       while(touch.isPressed()){\r
+       }\r
+       sum = 0;\r
+       for(int i=0;i<sum_num;i++){\r
+               sum += light.getBrightness();\r
+               clock.wait(10);\r
+       }\r
+       unsigned long black = sum / sum_num;\r
+       linepos.SetBlack(black);\r
+       tsprintf(str,"Black = %d",black);\r
+       lcd.cursor(0,3);\r
+       lcd.putf("s",str);\r
+       lcd.disp();\r
+       speaker.playTone(1400,100,50);\r
+\r
+       while(!touch.isPressed()){\r
+       }\r
+       while(touch.isPressed()){\r
+       }\r
+\r
        TerminateTask();\r
 }\r
 \r