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:
- 2016-03-06
- Revision:
- 6:f9167470d819
- Parent:
- 5:5ff3a7d5d8c2
- Child:
- 7:efe90188a49d
File content as of revision 6:f9167470d819:
#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.DribbleFlag=0; sys.KickFlag=0; sys.MotorFlag=0; sys.IrFlag=0; sys.UswFlag=0; sys.UswFlag_2=0; sys.PidFlag=0; //motor sys.s_pow = 30; sys.m_pow = 30; sys.l_pow = 30; sys.dri_pow = 30; 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=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_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); }