ぷるぷるメソッド廃止

arduino/SerialReadRot/SerialReadRot.ino

@@ -0,0 +1,21 @@
+const byte PIN_ROT = 2;
+volatile unsigned long counter = 0;
+
+void count(){
+  static byte rot[2] = {0}; //rot[0]:今の状態, rot[1]:前回の状態
+  rot[0] = digitalRead(PIN_ROT);
+  if(rot[0] != rot[1]){
+    rot[1] = rot[0];
+    counter++;
+  }
+}
+
+void setup(){
+  Serial.begin(9600);
+  pinMode(PIN_ROT, INPUT);
+}
+
+void loop(){
+  count();  //ロータリーエンコーダーの変化を見る
+  Serial.println(counter);
+}

arduino/hanzo2_1/hanzo2_1.ino

@@ -21,13 +21,10 @@
 const unsigned long LAP_COUNT = 854;
 const unsigned long TARGET_NONE_COUNT = LAP_COUNT/10;
 
-const int LANCE_ANGLE_PARALLEL1       =  43;  //度
+const int LANCE_ANGLE_PARALLEL1       =  90 -  43;  //度
-const int LANCE_ANGLE_PARALLEL2       =  42;
+const int LANCE_ANGLE_PARALLEL2       =  90 -  34;
-const int LANCE_ANGLE_LEFT_VERTICAL   = -33;
+const int LANCE_ANGLE_LEFT_VERTICAL   =  90 - 123;
-const int LANCE_ANGLE_RIGHT_VERTICAL  =  34;
+const int LANCE_ANGLE_RIGHT_VERTICAL  =  90 -  59;
-
-const int LANCE_INTERVAL_DEGREE = 10;  //ぷるぷるメソッドのための間隔(度)
-const unsigned long LANCE_INTERVAL = 6*LANCE_INTERVAL_DEGREE; //ms
 
 const byte SPEED_DEFAULT = 255;
 
@@ -91,11 +88,11 @@ void trace(byte sensor){
   switch(sensor&MASK_MODE_TRACE){
   case 0b01000000:
     handle(-5*HANDLE_KP);
-    motorMode(GO, GO, 0, SPEED_DEFAULT);
+    motorMode(GO, GO, SPEED_DEFAULT/4, SPEED_DEFAULT/2);
     break;
   case 0b01100000:
     handle(-4*HANDLE_KP);
-    motorMode(GO, GO, SPEED_DEFAULT/4, SPEED_DEFAULT);
+    motorMode(GO, GO, SPEED_DEFAULT*0.8, SPEED_DEFAULT);
     break;
   case 0b00100000:
     handle(-3*HANDLE_KP);
@@ -260,12 +257,20 @@ void loop(){
     mode = MODE_TRACE;
     break;
   case MODE_TARGET_PARALLEL1: //平行標的1
-    lance(LANCE_ANGLE_PARALLEL1);
+    trace(sensor);
-    mode = MODE_TRACE;
+    lance(LANCE_ANGLE_PARALLEL1-10);
+    if(counter - modeChangeCounter > 25){
+      lance(LANCE_ANGLE_PARALLEL1);
+      mode = MODE_TRACE;
+    }
     break;
   case MODE_TARGET_PARALLEL2: //平行標的2
-    lance(LANCE_ANGLE_PARALLEL2);
+    trace(sensor);
-    mode = MODE_TRACE;
+    lance(LANCE_ANGLE_PARALLEL2-10);
+    if(counter - modeChangeCounter > 26){
+      lance(LANCE_ANGLE_PARALLEL2);
+      mode = MODE_TRACE;
+    }
     break;
   case MODE_TRACE:
     trace(sensor);
@@ -274,14 +279,17 @@ void loop(){
 //    if( counter > LAP_COUNT*6 - LAP_COUNT/14 ){
 //      mode = MODE_TARGET_CYLINDER;
 //    }
-    if(counter > LAP_COUNT*3){
+    if(counter > LAP_COUNT*1){
       mode = MODE_STOP;
     }
     break;
   case MODE_LEFT: //左カーブ
     trace(sensor);
-    lance(0);
+    lance(90);
-    if(counter - modeChangeCounter > TARGET_NONE_COUNT) mode = MODE_TRACE;
+    if(counter - modeChangeCounter > TARGET_NONE_COUNT){
+      lance(0);
+      mode = MODE_TRACE;
+    }
     break;
   case MODE_TARGET_CYLINDER:  //円筒標的
     digitalWrite(PIN_LED, HIGH);
@@ -300,24 +308,4 @@ void loop(){
     motorR.mode(STOP);
     break;
   }
-  
-  /* 平行標的を狙う時は、ランスをぷるぷるする */
-  static unsigned long millis_lance = 0;
-  if(millis() - millis_lance > LANCE_INTERVAL){
-    millis_lance = millis();
-    switch(lanceRead()){
-    case LANCE_ANGLE_PARALLEL1:
-      lance(LANCE_ANGLE_PARALLEL1 - LANCE_INTERVAL_DEGREE);
-      break;
-    case LANCE_ANGLE_PARALLEL1 - LANCE_INTERVAL_DEGREE:
-      lance(LANCE_ANGLE_PARALLEL1);
-      break;
-    case LANCE_ANGLE_PARALLEL2:
-      lance(LANCE_ANGLE_PARALLEL2 - LANCE_INTERVAL_DEGREE);
-      break;
-    case LANCE_ANGLE_PARALLEL2 - LANCE_INTERVAL_DEGREE:
-      lance(LANCE_ANGLE_PARALLEL2);
-      break;
-    }
-  }
 }

shellscript/.bashrc

@@ -36,4 +36,5 @@ alias f=find
 #alias o=xdg-open
 alias o=open
 #alias d=gvfs-trash
-alias rm='gmv -f --backup=numbered --target-directory ~/.Trash'
+#alias rm='gmv -f --backup=numbered --target-directory ~/.Trash'
+alias rm='mv -f --target-directory ~/.Trash'