arduino/ServoSet/ServoSet.ino

@@ -7,7 +7,7 @@ void setup() {
   servo1.attach(9);
   servo2.attach(10);
   Serial.begin(9600);
-  Serial.println("format : [0-180][ab]");
+  Serial.print("format : [0-180][ab]");
 }
 
 void loop() {
@@ -21,14 +21,10 @@ void loop() {
         v = v * 10 + ch - '0';
         break;
       case 'a':
-        Serial.print("Servo(9) :");
-        Serial.println(v);
         servo1.write(v);
         v = 0;
         break;
       case 'b':
-        Serial.print("Servo(10):");
-        Serial.println(v);
         servo2.write(v);
         v = 0;
         break;

arduino/ServoSetHanzo4_1/ServoSetHanzo4_1.ino

@@ -1,123 +0,0 @@
-#include <Servo.h>
-
-// Servo : SC-1267SG
-unsigned int steeringServoCenter = 1820;  //us
-unsigned int steeringServoMin = (steeringServoCenter-780); //us
-unsigned int steeringServoMax = (steeringServoCenter+780); //us
-
-// Servo : SC-0352
-unsigned int lanceServoCenter = 1560;  //us
-unsigned int lanceServoMin = (lanceServoCenter-780); //us
-unsigned int lanceServoMax = (lanceServoCenter+780); //us
-
-unsigned char rotPin     = 2;
-
-unsigned char numSensors = 8;
-unsigned char sensorPin[] = {19,18,17,16,15,14,13,12};  //右端から順番に左端へ
-
-unsigned char steeringServoPin  =  9;
-unsigned char lanceServoPin     = 10;
-
-volatile unsigned long distance = 0;
-
-Servo lanceServo;
-Servo steeringServo;
-
-/* ステアリングを中央からa[度]だけ動かす
-  <- - 0 + ->
-      ||
-      ||
- []---{}---[]
-     / .\
-*/
-int steering(int a){
-  steeringServo.write(90 + a);
-  return (steeringServo.read() - 90);
-}
-
-/* ランスを中央からa[度]だけ動かす
-  <- - 0 + ->
-     / .\
-    /  | \
- []+--{}--+[]
-*/
-int lance(int a){
-  lanceServo.write(90 - a);
-  return (90 - a);
-}
-
-/* センサーのアレイの初期化 */
-void sensorInit(){
-  for(int i=0; i<numSensors; i++){
-    pinMode(sensorPin[i], INPUT);
-  }
-}
-
-/* エンコーダーの割り込み処理 */
-void rot(){
-  distance++;
-}
-
-void setup() {
-  steeringServo.attach(steeringServoPin, steeringServoMin, steeringServoMax);
-  lanceServo.attach(lanceServoPin, lanceServoMin, lanceServoMax);
-  steering(0);
-  lance(0);
-  pinMode(rotPin, INPUT);
-  attachInterrupt(0, rot, RISING);
-  Serial.begin(9600);
-  Serial.println("format : [+-][0-180][hl]");
-}
-
-void loop() {
-  static int i = 0;
-  i++;
-  if(i>100){
-    i = 0;
-    Serial.print(distance);
-    Serial.print('\t');
-    for(int i=0; i<numSensors; i++){
-      Serial.print(digitalRead(sensorPin[i]));
-    }
-    Serial.println();
-  }
-  
-  static int v = 0;
-  static int s = 1;
-  
-  if ( Serial.available() ) {
-    char ch = Serial.read();
-    switch(ch) {
-      case '-':
-        s = -1;
-        break;
-      case '0'...'9':
-        v = v * 10 + ch - '0';
-        break;
-      case 'l':
-        v = s*v;
-        Serial.print("lance :");
-        Serial.println(v);
-        lance(v);
-        v = 0;
-        s = 1;
-        break;
-      case 'h':
-        v = s*v;
-        Serial.print("steering :");
-        Serial.println(v);
-        steering(v);
-        v = 0;
-        s = 1;
-        break;
-      case 'c':
-        Serial.println("clear");
-        distance = 0;
-        v = 0;
-        s = 1;
-        break;
-    }
-  }
-  
-  delay(1);
-}

dotfiles/.bashrc

@@ -3,7 +3,7 @@
 #fi
 #export LANG
 
-PATH="~/Documents/bin:$PATH"
+PATH="~/bin:$PATH"
 
 PS1='\[\e[1;32m\]\D{%F %T}\[\e[0m\] \[\e[1;34m\]\w\[\e[0;1m\]
 \$ \[\e[0m\]'
@@ -34,109 +34,12 @@ complete -c man sudo
 
 set -o noclobber
 
-alias base64=gbase64
-alias basename=gbasename
-alias cat=gcat
-alias chgrp=gchgrp
-alias chmod=gchmod
-alias chown=gchown
-alias chroot=gchroot
-alias cksum=gcksum
-alias comm=gcomm
-alias cp=gcp
-alias csplit=gcsplit
-alias cut=gcut
-alias date=gdate
-alias dd=gdd
-alias df=gdf
-alias dir=gdir
-alias dircolors=gdircolors
-alias dirname=gdirname
-alias du=gdu
-alias echo=gecho
-alias env=genv
-alias expand=gexpand
-alias expr=gexpr
-alias factor=gfactor
-alias false=gfalse
-alias fmt=gfmt
-alias fold=gfold
-alias groups=ggroups
-alias head=ghead
-alias hostid=ghostid
-alias hostname=ghostname
-alias id=gid
-alias install=ginstall
-alias join=gjoin
-alias kill=gkill
-alias link=glink
-alias ln=gln
-alias logname=glogname
-alias ls='gls -F'
-alias md5sum=gmd5sum
-alias mkdir=gmkdir
-alias mkfifo=gmkfifo
-alias mknod=gmknod
-alias mv=gmv
-alias nice=gnice
-alias nl=gnl
-alias nohup=gnohup
-alias od=god
-alias paste=gpaste
-alias pathchk=gpathchk
-alias pinky=gpinky
-alias pr=gpr
-alias printenv=gprintenv
-alias printf=gprintf
-alias ptx=gptx
-alias pwd=gpwd
-alias readlink=greadlink
-alias rm=grm
-alias rmdir=grmdir
-alias seq=gseq
-alias sha1sum=gsha1sum
-alias sha224sum=gsha224sum
-alias sha256sum=gsha256sum
-alias sha384sum=gsha384sum
-alias sha512sum=gsha512sum
-alias shred=gshred
-alias shuf=gshuf
-alias sleep=gsleep
-alias sort=gsort
-alias split=gsplit
-alias stat=gstat
-alias stty=gstty
-alias su=gsu
-alias sum=gsum
-alias sync=gsync
-alias tac=gtac
-alias tail=gtail
-alias tee=gtee
-alias test=gtest
-alias touch=gtouch
-alias tr=gtr
-alias true=gtrue
-alias tsort=gtsort
-alias tty=gtty
-alias uname=guname
-alias unexpand=gunexpand
-alias uniq=guniq
-alias unlink=gunlink
-alias uptime=guptime
-alias users=gusers
-alias vdir=gvdir
-alias wc=gwc
-alias who=gwho
-alias whoami=gwhoami
-alias yes=gyes
-
 alias ls='ls -G'
 alias l='ls -alh'
 alias cp='cp -iv'
 alias mv='mv -iv'
 alias ln='ln -iv'
 alias rm='rm -iv'
-alias mkdir='mkdir -v'
 alias grep='grep --color'
 alias egrep='egrep --color'
 alias bc='bc -l'