File content as of revision 38:67bc78f3c0ab:

#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);
    
    //ball
    BallChecker.mode(PullUp);
    
    //system,flag
    sys.strategy=0;
    sys.jump_flag=JUMP_TAG_MAX;//0<=x<=JUMP_TAG_NUM
    sys.stopflag=0;
    sys.KickOffFlag=0;
    sys.TurnStartFlag=0;
    sys.DribbleFlag=0;
    sys.MotorFlag=0;
    sys.InfoFlag=0;
    //sys.PidFlag=0;
    //motor 
    sys.pow_num = 1;
    sys.s_pow = ir_pow_val[sys.pow_num][POW_SHORT];
    sys.m_pow = ir_pow_val[sys.pow_num][POW_MIDDLE];
    sys.l_pow = ir_pow_val[sys.pow_num][POW_LONG];
    /*sys.s_pow = 30;
    sys.m_pow = 30;
    sys.l_pow = 30;*/
    sys.dri_pow = 100;
    sys.ir_pow_table = 0;
    
    ///////important
    ///Blindシリーズ．1を代入であらゆるセンサーなどの値を反映させないようにする．
    sys.IrBlind=0;
    sys.LineBlind=0;
    sys.PingBlind=0;
    
    sys.HomeBlind=1;
    sys.DriBlind=1;
    sys.DriMotorBlind=0;
    sys.TurnAtkBlind=0;
    sys.TurnDriBlind=0;
    sys.TurnHoldBlind=0;
    sys.KickBlind=0;
    //defence
    sys.DefenceFlag=0;
    ////////important
    
    //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
    //compass
    hmc_reset=HMC_RUN;
    /*for(int i=0; i<5; i++){
        ReadCmps();
        cmps_set.CmpsInitialValue = cmps_set.cmps;
        wait_ms(10);
    }
    cmps_set.CmpsDiff = REFERENCE - cmps_set.CmpsInitialValue;*/
    for(int i=0; i<5; i++){
        ReadCmps();
        cmps_set.CmpsInitialValue = cmps_set.cmps;
        cmps_set.CmpsInitialValue0 = cmps_set.cmps;
        wait_ms(10);
    }
    cmps_set.CmpsDiff = REFERENCE - cmps_set.cmps;
    
    cmps_set.FrontDeg=0;
    cmps_set.AtkDeg=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;
    SetKick();
    SetPidAndMotor();
    SetInfo();
    SetLine();
}
void StopProcess(void){//コマンドに戻るときの処理

    sys.KickOffFlag=0;
    SetKick();
    SetPidAndMotor();
    SetInfo();
    SetLine();
    
    __disable_irq(); // 禁止
    __enable_irq(); // 許可
    Sw_ticker.attach(Sw_sample, 0.050);
}

void SetKick(void){
    if(sys.KickOffFlag==1){
        kicker=0;
        ValidSolenoid();
        BallChecker.fall(&DriveSolenoidJudge);
    }
    else{
        kicker=1;
        wait(0.25);
        kicker=0;
    }
}
void SetPidAndMotor(void){
    if(sys.KickOffFlag==1){
        //compass
        ValidTurn();
        hmc_reset=HMC_RUN;
        if(sys.TurnStartFlag==1){
            //正．．．右回転
            //負．．．左回転
            //cmps_set.FrontDeg=-180;
            //cmps_set.FrontDeg=179;
            //cmps_set.FrontDeg=180;
            //cmps_set.CmpsDiff = REFERENCE - cmps_set.CmpsInitialValue;
            
            /*for(int i=0; i<5; i++){
                ReadCmps();
                cmps_set.CmpsInitialValue2 = cmps_set.cmps;
                wait_ms(10);
            }*/
            //cmps_set.CmpsDiff = REFERENCE - cmps_set.CmpsInitialValue2;
            
            cmps_set.FrontDeg=-180;//-(cmps_set.CmpsInitialValue2-cmps_set.CmpsInitialValue0);
        }
        else{
            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;
        }
        Motor_ticker.attach(&ValidTx_motor, 0.020);
        //pidupdate.attach(&ValidPidUpdate, PID_CYCLE);
    }
    else{
        //pidupdate.detach();
        Motor_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;
        HmcReset();
    }
}
void SetInfo(void){
    if(sys.KickOffFlag==1){
        Info_ticker.attach(&ValidInfo, 0.050);
    }
    else{
        Info_ticker.detach();
    }
}
void SetLine(void){
    if(sys.KickOffFlag==1){
        //Line_ticker.attach(&ReadLine, 0.005);
        /*Line[A_SPOT].rise(&LineCall_A);
        Line[B_SPOT].rise(&LineCall_B);
        Line[C_SPOT].rise(&LineCall_C);*/
        /*
        LineHolding[A_SPOT].rise(&LineRanking_A);
        LineHolding[B_SPOT].rise(&LineRanking_B);
        LineHolding[C_SPOT].rise(&LineRanking_C);
        */
        /*
        Line[A_SPOT].rise(&LineRawCall_A);
        Line[B_SPOT].rise(&LineRawCall_B);
        Line[C_SPOT].rise(&LineRawCall_C);
        */
        
        Line[A_SPOT].rise(&LineRawRanking_A);
        Line[B_SPOT].rise(&LineRawRanking_B);
        Line[C_SPOT].rise(&LineRawRanking_C);
    }
    else{
        ////Line_ticker.detach();
    }
}