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p
1. ET
2.
3.
4.
5.
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white black,
gray
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white
black
gray
white,black,
gray
600
800
680
ON/OFF
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(W+B)/2=700
white=600
black=800
gray=680
W=600 G=680
calibrater()
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-40
20mm
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B=800
10ms
-30
W+B)/2=700
700
700
YES
20mm
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NO
680
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floatr_kyori,r_soukyori=0.0,l_kyori,l_soukyori=0.0,r_kyori0=0.0
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10ms
10ms
staticint r_angle,l_angle,r_angle0,l_angle0;
r_angle=r_angle0- nxt_motor_get_count(NXT_PORT_B);
if(r_angle<0)r_angle=-r_angle;
r_kyori=2*3.141592*75*((double)r_angle/360);
r_soukyori+=r_kyori;
•
l_angle=l_angle0- nxt_motor_get_count(NXT_PORT_C);
if(l_angle<0)l_angle=-l_angle;
l_kyori=2*3.141592*75*((double)l_angle/360);
l_soukyori+=l_kyori;
mm
“
1”
-[ET
r_angle0=nxt_motor_get_count(NXT_PORT_B);
l_angle0=nxt_motor_get_count(NXT_PORT_C);
]
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:
)
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• http://gihyo.jp/dev/serial/01/etrobo/0002
ET
• http://embedded0engineer.blog.fc2.com/blog-entry-21.html
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