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This commit is contained in:
Nebel 2012-09-15 13:24:31 +09:00
parent 8dbdddaaea
commit a9ba272657
1 changed files with 6 additions and 6 deletions
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12
arduino/hanzo2_1/hanzo2_1.ino
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@ -159,9 +159,9 @@ int checkMarker(byte sensor){
return mode;
}
void motorMode(byte motorLeftMode, byte motorRightMode, byte motorLeftSpeed, byte motorRightSpeed){
motorL.mode( motorLeftMode, motorLeftSpeed);
motorR.mode(motorRightMode, motorRightSpeed);
void motorMode(byte leftMode, byte rightMode, byte leftSpeed, byte rightSpeed){
motorL.mode( leftMode, leftSpeed);
motorR.mode(rightMode, rightSpeed);
}
void handle(int degree){
@ -197,7 +197,7 @@ void sensorInit(){
}
byte sensorRead(){
byte sensor = 0;
byte sensor = 0; //黒が1、白が0
if(digitalRead(PIN_SENSOR_0)) sensor += 0b00000001;
if(digitalRead(PIN_SENSOR_1)) sensor += 0b00000010;
if(digitalRead(PIN_SENSOR_2)) sensor += 0b00000100;
@ -239,10 +239,10 @@ void setup() {
void loop(){
/* センサーを見る */
byte sensor = 0;
byte sensor = 0; //ラインが1、地面が0
#ifdef LINE_BLACK //黒ライン
sensor = sensorRead();
#else
#else //白ライン
sensor = ~sensorRead();
#endif
count(); //ロータリーエンコーダーの変化を見る