CatPot 2015-2016
/
CatPot_2v10_T_Main
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Dependencies: mbed AQM1602 HMC6352 PID
Diff: main_processing/strategy/LineProcess.cpp
- Revision:
- 27:825c6835e3db
- Parent:
- 25:a7460e23e02e
- Child:
- 28:f246a5fbf6a5
--- a/main_processing/strategy/LineProcess.cpp Mon Mar 21 05:49:18 2016 +0000
+++ b/main_processing/strategy/LineProcess.cpp Mon Mar 21 17:05:08 2016 +0000
@@ -41,6 +41,54 @@
else *y=1;
}
}
+void LineJudgeSlow2(double pow_x, double pow_y, double *x, double *y, uint8_t *px, uint8_t *py){
+ uint8_t LineState;
+ uint8_t LineSum;
+
+ //line
+ LineState = 0;
+
+ LineSum = (data.lnRawOrder[0]!=LINE_EMPTY)+(data.lnRawOrder[1]!=LINE_EMPTY)+(data.lnRawOrder[2]!=LINE_EMPTY);
+ if(LineSum==3){
+ LineState = 3;
+ }
+ else if(LineSum==2){
+ LineState = 2;
+ }
+ else if(LineSum==1){
+ LineState = 1;
+ }
+ else if(LineSum==0){
+ LineState = 0;
+ }
+
+ if(LineSum>0){
+ if(pow_x>=0){
+ if((data.ping[R_PING]<WhiteToWall[X_PING])&&((*px)>LineDecrease[LineState])) (*px)=LineDecrease[LineState];
+ }
+ else{
+ if((data.ping[L_PING]<WhiteToWall[X_PING])&&((*px)>LineDecrease[LineState])) (*px)=LineDecrease[LineState];
+ }
+
+ if(pow_y>=0){
+ if((data.ping[F_PING]<WhiteToWall[Y_PING])&&((*py)>LineDecrease[LineState])) (*py)=LineDecrease[LineState];
+ }
+ else{
+ if((data.ping[B_PING]<WhiteToWall[Y_PING])&&((*py)>LineDecrease[LineState])) (*py)=LineDecrease[LineState];
+ }
+ }
+ else if(LineSum==0){
+ if(pow_x>=0){
+ if((data.ping[R_PING]<GoalEdgeToWall[X_PING])&&((*px)>LineDecrease[LineState])) (*px)=LineDecrease[LineState];
+ }
+ else{
+ if((data.ping[L_PING]<GoalEdgeToWall[X_PING])&&((*px)>LineDecrease[LineState])) (*px)=LineDecrease[LineState];
+ }
+ }
+
+ *x=1;
+ *y=1;
+}
void LineJudgeReturn(double pow_x, double pow_y, double *x, double *y){
const int8_t static LineReturn[5] = {0, 0, 0, 0, 20};
uint8_t LinePingState[4];
@@ -240,6 +288,134 @@
//line間際の復帰力以外の力を作用させるか否か
data.lnStop[X_LINE]=1;
data.lnStop[Y_LINE]=1;
+ /*
+ if(
+ (data.lnRawMemory[A_SPOT]==1)&&
+ (data.lnRawMemory[B_SPOT]==1)&&
+ (data.lnRawMemory[C_SPOT]==0)
+ ){
+ data.lnStop[Y_LINE]=0;
+ *y = -LineReturn[4];
+ }
+ else if(
+ (data.lnRawMemory[A_SPOT]==0)&&
+ (data.lnRawMemory[B_SPOT]==0)&&
+ (data.lnRawMemory[C_SPOT]==1)
+ ){
+ data.lnStop[Y_LINE]=0;
+ *y = LineReturn[4];
+ }*/
+ }
+}
+void LineJudgeReturn2(double pow_x, double pow_y, double *x, double *y){
+ const int8_t static LineReturn[5] = {0, 0, 0, 0, 20};
+ uint8_t LinePingState[4];
+ //◎ボールを追う力とラインから離れる力の向きが違うならばラインから離れる力が優先される．
+ //◎ボールを追う力とラインから離れる力の向きが同じならばボールを追う力が優先される．
+ //◎ラインセンサ全てが場外になるまではボールを追う力は作用しない．ボールを追う力は場内に出るまで作用する．
+ //×ラインのほぼ場外では常時ラインから離れる力が優先される．
+ //※場外判定を行うには再び場内に戻る必要がある．
+
+ data.FieldSpot=LINE_INSIDE;
+
+ if(data.FieldSpot==LINE_OUTSIDE){
+ }
+ else{//data.FieldSpot==LINE_INSIDE
+
+ data.ReturnDir[X_LINE]=LINE_EMPTY;
+ data.ReturnDir[Y_LINE]=LINE_EMPTY;
+
+ *x = 0;
+ *y = 0;
+
+ //line間際の復帰力以外の力を作用させるか否か
+ data.lnStop[X_LINE]=1;
+ data.lnStop[Y_LINE]=1;
+
+ if(//y
+ ((data.lnRawOrder[0]==A_SPOT)&&(data.lnRawOrder[1]==B_SPOT)&&(1))||
+ ((data.lnRawOrder[0]==B_SPOT)&&(data.lnRawOrder[1]==A_SPOT)&&(1))
+ ){
+ data.lnStop[Y_LINE]=0;
+ *y = -LineReturn[4];
+ }
+ else if(
+ ((data.lnRawOrder[0]==C_SPOT)&&(1)&&(1))
+ ){
+ data.lnStop[Y_LINE]=0;
+ *y = LineReturn[4];
+ }
+ else if(//x
+ ((data.lnRawOrder[0]==A_SPOT)&&(data.lnRawOrder[1]==C_SPOT)&&(1))
+ ){
+ *x = -LineReturn[4];
+ data.lnStop[X_LINE]=0;
+ }
+ else if(
+ ((data.lnRawOrder[0]==B_SPOT)&&(data.lnRawOrder[1]==C_SPOT)&&(1))
+ ){
+ *x = LineReturn[4];
+ data.lnStop[X_LINE]=0;
+ }
+
+ if(
+ ((*x)!=0)||
+ ((*y)!=0)
+ ){
+
+ data.lnRawReturn=1;
+
+ LinePingState[L_PING]=(data.ping[L_PING]<WhiteToWallPlus[X_PING]);
+ LinePingState[R_PING]=(data.ping[R_PING]<WhiteToWallPlus[X_PING]);
+ LinePingState[F_PING]=(data.ping[F_PING]<WhiteToWallPlus[Y_PING]);
+ LinePingState[B_PING]=(data.ping[B_PING]<WhiteToWallPlus[Y_PING]);
+ //x
+ if(data.lnStop[X_LINE]==1){
+ if((LinePingState[L_PING]==0)&&(LinePingState[R_PING]==1)){
+ *x = -LineReturn[4];
+ data.lnStop[X_LINE]=0;
+ }
+ if((LinePingState[L_PING]==1)&&(LinePingState[R_PING]==0)){
+ *x = LineReturn[4];
+ data.lnStop[X_LINE]=0;
+ }
+ if((LinePingState[L_PING]==1)&&(LinePingState[R_PING]==1)){
+ *x = 0;
+ data.lnStop[X_LINE]=0;
+ }
+ }
+ //y
+ if(data.lnStop[Y_LINE]==1){
+ if((LinePingState[B_PING]==0)&&(LinePingState[F_PING]==1)){
+ if(pow_y<0){
+ *y = 0;
+ data.lnStop[Y_LINE]=1;
+ }
+ else{
+ *y = -LineReturn[4];
+ data.lnStop[Y_LINE]=0;
+ }
+ }
+ if((LinePingState[B_PING]==1)&&(LinePingState[F_PING]==0)){
+ if(pow_y>0){
+ *y = 0;
+ data.lnStop[Y_LINE]=1;
+ }
+ else{
+ *y = LineReturn[4];
+ data.lnStop[Y_LINE]=0;
+ }
+ }
+ if((LinePingState[B_PING]==1)&&(LinePingState[F_PING]==1)){
+ *y = 0;
+ data.lnStop[Y_LINE]=0;
+ }
+ }
+ }
+ else{
+ data.lnRawReturn=0;
+ }
+
}
}
void LineJudgeReset(double pow_x, double pow_y, double *x, double *y){
@@ -422,3 +598,259 @@
//*/
}
+void LineJudgeReset2(double pow_x, double pow_y, double *x, double *y){
+ if(
+ (data.lnRawOrderLog2[0]==data.lnRawOrderLog1[0])&&
+ (data.lnRawOrderLog2[1]==data.lnRawOrderLog1[1])&&
+ (data.lnRawOrderLog2[2]==data.lnRawOrderLog1[2])
+ ){
+ data.lnRepeat=1;
+ }
+ else{
+ data.lnRepeat=0;
+ }
+
+ if(
+ (data.irNotice==IR_NONE)||
+ (data.irNotice==IR_FAR)||
+ (
+ (data.ping[L_PING]>=GoalEdgeToWall[X_PING])&&
+ (data.ping[R_PING]>=GoalEdgeToWall[X_PING])
+ )
+ ){
+ data.lnRepeat = 0;
+
+ LineRawLogReset();
+ }
+ //data.lnRepeat=0;
+ if((data.lnRepeat==1)&&((data.lnRawOrder[0]==LINE_EMPTY)&&(data.lnRawOrder[1]==LINE_EMPTY)&&(data.lnRawOrder[2]==LINE_EMPTY))){
+ //y
+ if(
+ ((pow_y>0)&&((data.lnRawOrderLog1[0]==A_SPOT)&&(data.lnRawOrderLog1[1]==B_SPOT)&&(1)))||
+ ((pow_y>0)&&((data.lnRawOrderLog1[0]==B_SPOT)&&(data.lnRawOrderLog1[1]==A_SPOT)&&(1)))||
+ ((pow_y<0)&&((data.lnRawOrderLog1[0]==C_SPOT)&&(1)&&(1)))
+ ){
+ data.lnStay[Y_LINE]=0;
+ }
+ else{
+ data.lnStay[Y_LINE]=1;
+ }
+ //x
+ if(
+ ((pow_x>0)&&((data.lnRawOrderLog1[0]==A_SPOT)&&(data.lnRawOrderLog1[1]==C_SPOT)&&(1)))||
+ ((pow_x<0)&&((data.lnRawOrderLog1[0]==B_SPOT)&&(data.lnRawOrderLog1[1]==C_SPOT)&&(1)))
+ ){
+ data.lnStay[X_LINE]=0;
+ }
+ else{
+ data.lnStay[X_LINE]=1;
+ }
+ }
+ else{
+ data.lnStay[X_LINE]=data.lnStay[Y_LINE]=1;
+ }
+
+}
+void LineJudgeReset3(double pow_x, double pow_y, double *x, double *y){
+ //static uint8_t NewLineCorner[4]={LINE_EMPTY, LINE_EMPTY, LINE_EMPTY, LINE_EMPTY};
+ //static uint8_t LastLineCorner[4]={LINE_EMPTY, LINE_EMPTY, LINE_EMPTY, LINE_EMPTY};
+ static uint8_t NewLineCorner[4]={LINE_EMPTY, LINE_EMPTY, LINE_EMPTY, LINE_EMPTY};
+ static uint8_t LastLineCorner[4]={LINE_EMPTY, LINE_EMPTY, LINE_EMPTY, LINE_EMPTY};
+
+ if((/*data.lnRaw==0*/1)&&(data.lnHold>0)){
+ if(data.FieldSpot==LINE_INSIDE){
+
+ data.lnCorner[L_LINE] = (data.ping[L_PING]<OutToWall[X_PING]);
+ data.lnCorner[R_LINE] = (data.ping[R_PING]<OutToWall[X_PING]);
+ data.lnCorner[F_LINE] = (data.ping[F_PING]<OutToWall[Y_PING]);
+ data.lnCorner[B_LINE] = (data.ping[B_PING]<OutToWall[Y_PING]);
+ if(
+ (data.lnCorner[L_LINE])||
+ (data.lnCorner[R_LINE])||
+ (data.lnCorner[F_LINE])||
+ (data.lnCorner[B_LINE])
+ ){
+
+ data.NonWall[L_LINE] = (data.ping[L_PING]>WhiteToWall[X_PING]);
+ data.NonWall[R_LINE] = (data.ping[R_PING]>WhiteToWall[X_PING]);
+ data.NonWall[F_LINE] = (data.ping[F_PING]>WhiteToWall[Y_PING]);
+ data.NonWall[B_LINE] = (data.ping[B_PING]>WhiteToWall[Y_PING]);
+
+
+
+ ///*
+ LastLineCorner[L_LINE]=NewLineCorner[L_LINE];
+ LastLineCorner[R_LINE]=NewLineCorner[R_LINE];
+ LastLineCorner[F_LINE]=NewLineCorner[F_LINE];
+ LastLineCorner[B_LINE]=NewLineCorner[B_LINE];
+
+ NewLineCorner[L_LINE]=data.lnCorner[L_LINE];
+ NewLineCorner[R_LINE]=data.lnCorner[R_LINE];
+ NewLineCorner[F_LINE]=data.lnCorner[F_LINE];
+ NewLineCorner[B_LINE]=data.lnCorner[B_LINE];
+
+ if(
+ (LastLineCorner[L_LINE]==NewLineCorner[L_LINE])&&
+ (LastLineCorner[R_LINE]==NewLineCorner[R_LINE])&&
+ (LastLineCorner[F_LINE]==NewLineCorner[F_LINE])&&
+ (LastLineCorner[B_LINE]==NewLineCorner[B_LINE])
+ ){
+ data.lnRepeat++;
+ }
+ else{
+ data.lnRepeat=0;
+ }
+ //*/
+
+ data.FieldSpot = LINE_OUTSIDE;
+ //Line_home.detach();
+ LineLiberate();
+ }
+ else{
+ data.FieldSpot = LINE_INSIDE;
+ data.NonWall[L_LINE] = data.NonWall[R_LINE] = data.NonWall[F_LINE] = data.NonWall[B_LINE] = 0;
+ //Line_home.detach();
+ LineLiberate();
+ LineRankClear();
+ }
+ }
+ /*else if(data.FieldSpot==LINE_OUTSIDE){
+ if(data.lnRaw==0){
+ data.FieldSpot = LINE_INSIDE;
+ data.NonWall[L_LINE] = data.NonWall[R_LINE] = data.NonWall[F_LINE] = data.NonWall[B_LINE] = 0;
+ LineLiberate();
+ LineRankClear();
+ }
+ }*/
+ }
+ if(data.FieldSpot == LINE_OUTSIDE){
+ //Line_home.attach(&JudgeInSide, 2.0);
+ if(
+ (
+ data.lnRaw==0
+ )&&
+ (
+ (data.ping[L_PING]>=WhiteToWall[X_PING])||
+ (data.NonWall[L_LINE]==1)||
+ ((data.lnOrder[0]==A_SPOT)&&(data.lnOrder[1]==C_SPOT))||
+ ((data.lnOrder[0]==A_SPOT)&&(data.NonWall[F_LINE]==1)&&(data.NonWall[B_LINE]==1))||
+ ((data.lnOrder[0]==A_SPOT)&&(data.ping[F_PING]>WhiteToWall[Y_PING])&&(data.ping[B_PING]>WhiteToWall[Y_PING]))
+ )&&
+ (
+ (data.ping[R_PING]>=WhiteToWall[X_PING])||
+ (data.NonWall[R_LINE]==1)||
+ ((data.lnOrder[0]==B_SPOT)&&(data.lnOrder[1]==C_SPOT))||
+ ((data.lnOrder[0]==B_SPOT)&&(data.NonWall[F_LINE]==1)&&(data.NonWall[B_LINE]==1))||
+ ((data.lnOrder[0]==B_SPOT)&&(data.ping[F_PING]>WhiteToWall[Y_PING])&&(data.ping[B_PING]>WhiteToWall[Y_PING]))
+ )&&
+ (
+ (data.ping[F_PING]>=WhiteToWall[Y_PING])||
+ (data.NonWall[F_LINE]==1)||
+ ((data.lnOrder[0]==C_SPOT)&&(data.lnOrder[1]==A_SPOT))||
+ ((data.lnOrder[0]==C_SPOT)&&(data.lnOrder[1]==B_SPOT))||
+ ((data.lnOrder[0]==C_SPOT)&&(data.lnOrder[1]==LINE_EMPTY))
+ )&&
+ ((data.ping[B_PING]>=WhiteToWall[Y_PING])||
+ (data.NonWall[B_LINE]==1)||
+ ((data.lnOrder[0]==A_SPOT)&&(data.lnOrder[1]==B_SPOT))||
+ ((data.lnOrder[0]==B_SPOT)&&(data.lnOrder[1]==A_SPOT))
+ )
+ ){
+ data.FieldSpot = LINE_INSIDE;
+ data.NonWall[L_LINE] = data.NonWall[R_LINE] = data.NonWall[F_LINE] = data.NonWall[B_LINE] = 0;
+ //Line_home.detach();
+ LineLiberate();
+ LineRankClear();
+ }
+ }
+ /*if((data.FieldSpot == LINE_INSIDE)&&(0<data.lnHold)&&(data.lnHold<7)&&(data.lnRaw==0)){
+ if(
+ (
+ (
+ (data.ping[L_PING]>=WhiteToWall[X_PING])||
+ ((data.lnOrder[0]==A_SPOT)&&(data.lnOrder[1]==C_SPOT))
+ //(data.lnOrder[0]==A_SPOT)
+ )&&
+ (
+ (data.ping[R_PING]>=WhiteToWall[X_PING])||
+ ((data.lnOrder[0]==B_SPOT)&&(data.lnOrder[1]==C_SPOT))
+ //(data.lnOrder[0]==B_SPOT)
+ )&&
+ (
+ (data.ping[F_PING]>=WhiteToWall[Y_PING])||
+ ((data.lnOrder[0]==C_SPOT)&&(data.lnOrder[1]==A_SPOT))||
+ ((data.lnOrder[0]==C_SPOT)&&(data.lnOrder[1]==B_SPOT))
+ )&&
+ (
+ (data.ping[B_PING]>=WhiteToWall[Y_PING])||
+ ((data.lnOrder[0]==A_SPOT)&&(data.lnOrder[1]==B_SPOT))||
+ ((data.lnOrder[0]==B_SPOT)&&(data.lnOrder[1]==A_SPOT))
+ )
+ )
+ ||
+ (
+ (data.ping[L_PING]>=GoalEdgeToWall[X_PING])&&
+ (data.ping[R_PING]>=GoalEdgeToWall[X_PING])
+ )
+ ){
+ data.NonWall[L_LINE] = data.NonWall[R_LINE] = data.NonWall[F_LINE] = data.NonWall[B_LINE] = 0;
+ LineLiberate();
+ }
+ }*/
+ ///*
+ if(
+ (data.irNotice==IR_NONE)||
+ (data.irNotice==IR_FAR)||
+ (
+ (data.ping[L_PING]>=GoalEdgeToWall[X_PING])&&
+ (data.ping[R_PING]>=GoalEdgeToWall[X_PING])
+ )
+ ){
+ data.lnRepeat = 0;
+
+ NewLineCorner[L_LINE]=LINE_EMPTY;
+ NewLineCorner[R_LINE]=LINE_EMPTY;
+ NewLineCorner[F_LINE]=LINE_EMPTY;
+ NewLineCorner[B_LINE]=LINE_EMPTY;
+
+ LastLineCorner[L_LINE]=LINE_EMPTY;
+ LastLineCorner[R_LINE]=LINE_EMPTY;
+ LastLineCorner[F_LINE]=LINE_EMPTY;
+ LastLineCorner[B_LINE]=LINE_EMPTY;
+ }
+ //data.lnRepeat=0;
+ if((data.lnRepeat>0)&&(data.FieldSpot == LINE_INSIDE)){
+ //x
+ if(
+ ((pow_x>=0)&&(NewLineCorner[R_LINE]))||
+ ((pow_x<0)&&(NewLineCorner[L_LINE]))
+ ){
+ data.lnStay[X_LINE]=0;
+ }
+ else{
+ data.lnStay[X_LINE]=1;
+ }
+ //y
+ if(
+ ((pow_y>=0)&&(NewLineCorner[F_LINE]))||
+ ((pow_y<0)&&(NewLineCorner[B_LINE]))
+ ){
+ data.lnStay[Y_LINE]=0;
+ }
+ else{
+ data.lnStay[Y_LINE]=1;
+ }
+ }
+ else{
+ data.lnStay[X_LINE]=data.lnStay[Y_LINE]=1;
+ }
+ //*/
+
+}
+void JudgeInSide(void){
+ data.FieldSpot = LINE_INSIDE;
+ data.NonWall[L_LINE] = data.NonWall[R_LINE] = data.NonWall[F_LINE] = data.NonWall[B_LINE] = 0;
+ LineLiberate();
+ LineRankClear();
+ //Line_home.detach();
+}