alias g* to *

arduino/ServoSet/ServoSet.ino

@@ -7,7 +7,7 @@ void setup() {
   servo1.attach(9);
   servo2.attach(10);
   Serial.begin(9600);
-  Serial.print("format : [0-180][ab]");
+  Serial.println("format : [0-180][ab]");
 }
 
 void loop() {
@@ -21,10 +21,14 @@ 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

@@ -0,0 +1,123 @@
+#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="~/bin:$PATH"
+PATH="~/Documents/bin:$PATH"
 
 PS1='\[\e[1;32m\]\D{%F %T}\[\e[0m\] \[\e[1;34m\]\w\[\e[0;1m\]
 \$ \[\e[0m\]'
@@ -34,12 +34,109 @@ 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'