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:
- 2016-03-16
- Revision:
- 19:967207de919d
- Parent:
- 18:3a42a931c95a
- Child:
- 21:378470320524
File content as of revision 19:967207de919d:
#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.KickFlag=0; sys.MotorFlag=0; sys.IrFlag=0; sys.InfoFlag=0; sys.UswFlag=0; sys.UswFlag2=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 = 50; sys.ir_pow_table = 0; //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; 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(); /*SetIr(); SetPing();*/ SetLine(); /* //solenoid sys.KickFlag=0; kicker=0; //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.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_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 sys.KickOffFlag=0; //SetKick(); SetPidAndMotor(); SetInfo(); /*SetIr(); SetPing();*/ SetLine(); /* pidupdate.detach(); Motor_ticker.detach(); ////Line_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 Solenoid_ticker.detach(); kicker=1; wait(0.25); kicker=0; */ __disable_irq(); // 禁止 __enable_irq(); // 許可 Sw_ticker.attach(Sw_sample, 0.050); } /* void SetKick(void){ if(sys.KickOffFlag==1){ //solenoid sys.KickFlag=0; kicker=0; Solenoid_ticker.attach(&AvailableSolenoid, 6.0); } else{ //solenoid Solenoid_ticker.detach(); kicker=1; wait(0.25); kicker=0; } }*/ void SetPidAndMotor(void){ if(sys.KickOffFlag==1){ //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.cmps; 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.FrontDeg=-180; } else{ cmps_set.FrontDeg=0; } //FrontHere(); 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; } } void SetIr(void){ if(sys.KickOffFlag==1){ Ir_ticker.attach(&ValidIr, 0.050); } else{ Ir_ticker.detach(); } } void SetPing(void){ if(sys.KickOffFlag==1){ Ping_ticker.attach(&ValidPing, 0.050); Ping_ticker2.attach(&ValidPing2, 0.050); } else{ Ping_ticker.detach(); Ping_ticker2.detach(); } } 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); //LineHolding[A_SPOT].rise(&LineCall_ABC); //LineHolding[B_SPOT].rise(&LineCall_ABC); //LineHolding[C_SPOT].rise(&LineCall_ABC); } else{ ////Line_ticker.detach(); } }