int main(int argc,char *argv[]) {
int i;
int motorNo;
float vSetF;
enum DriveMode drive;
char *controlOperand;
for(i=0;i<argc;i++){
if( strcmp(argv[i],"-c")==0){
controlOperand=argv[i+1];
}else if( strcmp(argv[i],"-v")==0){
vSetF = atof(argv[i+1]);
}else if( strcmp(argv[i],"-n")==0){
motorNo = atoi(argv[i+1]);
}else if( strcmp(argv[i],"-h")==0){
printf("-c pos:正転\n neg:逆転\n stop:停止\n stanby:惰走\n");
printf("-n モータ番号(0～1) \n");
printf("-v 電圧(0.48～5.06) \n");
}
}
if( strcmp(controlOperand,"pos")==0){
if(vSetF!=0){
drive=PositiveDrive;
}else{
printf("Voletage dont input!!");
return 1;
}
}else if(strcmp(controlOperand,"neg")==0){
if(vSetF!=0){
drive=NegativeDrive;
}else{
printf("Voletage dont input!!");
return 1;
}
}else if(strcmp(controlOperand,"stop")==0){
drive=Break;
vSetF=1;
}else if(strcmp(controlOperand,"stanby")==0){
drive=Stanby;
vSetF=1;
}else{
printf("Operand Error!!\n");
return 1;
}
return motorDrive(motorNo, drive,vSetF);
}
//メソッド：void 競技走行する（）
void CompetitionRunning::CompetitionRun(){
float TAIL_ANGLE_DRIVE = 3;
MotorDrive motorDrive( m_pDeviceInterface );
SectionDecisionController sectionDecisionController( m_pDeviceInterface );
RunningController runningController( m_pDeviceInterface, m_pUIGet );
while (m_nNowSection < 7) {
ev3_lcd_draw_string("running_start", 0, 60);
//しっぽをバランス走行用に制御
motorDrive.TailMotorDrive(TAIL_ANGLE_DRIVE);
//区間判断コントローラに現区間の番号をもらう
m_nNowSection = sectionDecisionController.SectionIdentify(m_nNowSection);
if(m_nNowSection == 7) break;
//走行コントローラに投げる
runningController.RunningExecute(m_nNowSection);
if (m_pUIGet->UIGetter().Button == 'B')
break;
m_pDeviceInterface->m_pCClock->sleep(3); /* 4msec周期起動 */
}
ev3_lcd_draw_string("running_end", 0, 60);
}
// drive the left motor, input should be between -100 and 100
void DashBot::motorDriveL(float motor_pwm)
{
motorDrive(motor_pwm, 'L');
}
// drive the right motor, input should be between -100 and 100
void DashBot::motorDriveR(float motor_pwm)
{
motorDrive(motor_pwm, 'R');
}
