ジャパンオープン用のメインプログラム
Dependencies: mbed AQM1602 HMC6352 PID
main_processing/setup_command_active/setup.cpp
- Committer:
- lilac0112_1
- Date:
- 2016-03-03
- Revision:
- 2:635947de1583
- Parent:
- 0:ea35c18c85fc
- Child:
- 4:52da8da146d4
File content as of revision 2:635947de1583:
#include "mbed.h" #include "extern.h" void SetUp(void){//電源を入れた時の処理 //int i=1; //solenoid kicker=0; //sw&lcd Sw[0].mode(PullUp); Sw[1].mode(PullUp); Sw[2].mode(PullUp); Sw[3].mode(PullUp); Sw_ticker.attach(Sw_sample, 0.050); Lcd.cls(); Lcd.print(lcdstr[0][0]); //ball BallChecker.mode(PullUp); //value sys.strategy = 0; sys.ir_pow_table = 0; sys.s_pow=30; sys.l_pow=30; sys.dri_pow=30; //ir data.irNotice=IR_NONE; //spi spi.format(16, 3); spi.frequency(1000000); spi_ss[0]=spi_ss[1]=spi_ss[2]=spi_ss[3]=1; //motor motor.baud(115200); //ボーレート設定 motor.printf("1F0002F0003F0004F000\r\n"); //モータ停止 //motor.attach(&tx_motor,Serial::TxIrq); //送信空き割り込み(モータ用) //compass hmc_reset=0; for(int i=0; i<5; i++){ ReadCmps(); cmps_set.CmpsInitialValue = cmps_set.cmps; wait_ms(10); } cmps_set.CmpsDiff = REFERENCE - cmps_set.cmps; cmps_set.FrontDeg=0; pid.setInputLimits(MINIMUM,MAXIMUM); //pid sed def pid.setOutputLimits(-OUT_LIMIT, OUT_LIMIT); //pid sed def pid.setBias(PID_BIAS); //pid sed def pid.setMode(AUTO_MODE); //pid sed def pid.setSetPoint(REFERENCE); //pid sed def //pidupdate.attach(&PidUpdate, PID_CYCLE); } void SetUp2(void){//スタートした時の処理 __enable_irq(); // 許可 sys.KickOffFlag=1; sys.KickFlag=0; //solenoid kicker=0; //compass hmc_reset=0; for(int i=0; i<5; i++){ ReadCmps(); cmps_set.CmpsInitialValue = cmps_set.cmps; wait_ms(10); } cmps_set.CmpsDiff = REFERENCE - cmps_set.cmps; cmps_set.FrontDeg=0; //Line_ticker.attach(&ReadLine, 0.005); Line[A_SPOT].rise(&LineCall_A); Line[B_SPOT].rise(&LineCall_B); Line[C_SPOT].rise(&LineCall_C); Solenoid_ticker.attach(&AvailableSolenoid, 6.0); Ir_ticker.attach(&ValidIr, 0.050); Ping_ticker.attach(&ValidPing, 0.050); //Hmc_ticker.attach(&HmcReset, 1.0); //motor.attach(&tx_motor,Serial::TxIrq); //送信空き割り込み(モータ用) Motor_ticker.attach(&ValidTx_motor, 0.020); pidupdate.attach(&ValidPidUpdate, PID_CYCLE); } void StopProcess(void){//コマンドに戻るときの処理 pidupdate.detach(); Motor_ticker.detach(); ////Line_ticker.detach(); Solenoid_ticker.detach(); Ir_ticker.detach(); Ping_ticker.detach(); ////Hmc_ticker.detach(); motor.printf("1F0002F0003F0004F000\r\n"); //モータ停止 move(0,0,0); cmps_set.OutputPID=0; cmps_set.InputPID=REFERENCE; //solenoid kicker=1; wait(0.25); kicker=0; __disable_irq(); // 禁止 __enable_irq(); // 許可 Sw_ticker.attach(Sw_sample, 0.050); }