CatPot 2015-2016
ジャパンオープン用のメインプログラム
Dependencies: mbed AQM1602 HMC6352 PID
Revision 38:67bc78f3c0ab, committed 2016-03-27
- Comitter:
- lilac0112_1
- Date:
- Sun Mar 27 13:04:39 2016 +0000
- Parent:
- 37:6100c01f402d
- Commit message:
- JapanSoccerOpen2016 CatPot Program(main)
Changed in this revision
--- a/main_processing/strategy/LineProcess.cpp Fri Mar 25 14:56:52 2016 +0000
+++ b/main_processing/strategy/LineProcess.cpp Sun Mar 27 13:04:39 2016 +0000
@@ -346,6 +346,8 @@
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];
+ //JSO2
+ static uint8_t lnRawReturn1 = 0;
//◎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．
@@ -374,12 +376,54 @@
){
data.lnStop[Y_LINE]=0;
*y = -LineReturn[4];
+ //JSO1
+ if(
+ (data.ping[F_PING]<45)&&
+ (data.lnRawReturn==1)//JSO2
+ ){
+ data.lnStop[X_LINE]=0;
+ }
+ //JSO2
+ if(
+ (
+ ((Line[A_SPOT].read()==1)&&(Line[B_SPOT].read()==0))||
+ ((LineHolding[A_SPOT].read()==1)&&(LineHolding[B_SPOT].read()==0))
+ )&&
+ (data.ping[F_PING]>45)&&
+ (data.ping[F_PING]<200)&&
+ (data.ping[R_PING]<25)&&
+ (data.ping[L_PING]>40)
+ ){
+ *x = -LineReturn[4];
+ data.lnStop[X_LINE]=0;
+ }
+ if(
+ (
+ ((Line[A_SPOT].read()==0)&&(Line[B_SPOT].read()==1))||
+ ((LineHolding[A_SPOT].read()==0)&&(LineHolding[B_SPOT].read()==1))
+ )&&
+ (data.ping[F_PING]>45)&&
+ (data.ping[F_PING]<200)&&
+ (data.ping[L_PING]<25)&&
+ (data.ping[R_PING]>40)
+ ){
+ *x = LineReturn[4];
+ data.lnStop[X_LINE]=0;
+ }
}
else if(
((data.lnRawOrder[0]==C_SPOT)&&(1)&&(1))
){
data.lnStop[Y_LINE]=0;
*y = LineReturn[4];
+
+ //JSO1
+ if(
+ (data.ping[B_PING]<45)&&
+ (data.lnRawReturn==1)
+ ){
+ data.lnStop[X_LINE]=0;
+ }
}
else if(//x
((data.lnRawOrder[0]==A_SPOT)&&(data.lnRawOrder[1]==C_SPOT)&&(1))
@@ -432,6 +476,12 @@
data.lnStop[Y_LINE]=0;
}
}
+ //JSO2
+ if((LineHolding[A_SPOT].read()==1)&&(LineHolding[B_SPOT].read()==1)&&(LineHolding[C_SPOT].read()==0)&&(data.lnRawReturn==1)){
+ *y = -LineReturn[4];
+ data.lnStop[Y_LINE]=0;
+ }
+
if((LinePingState[B_PING]==1)&&(LinePingState[F_PING]==0)){
if(pow_y>0){
*y = 0;
@@ -450,6 +500,60 @@
}
else{
data.lnRawReturn=0;
+
+ //JSO3
+ if((data.lnOrder[0]==A_SPOT)&&(data.lnOrder[1]==LINE_EMPTY)&&(pow_x>0)){
+ data.lnStop[X_LINE]=0;
+ }
+ if((data.lnOrder[0]==B_SPOT)&&(data.lnOrder[1]==LINE_EMPTY)&&(pow_x<0)){
+ data.lnStop[X_LINE]=0;
+ }
+ //JSO3
+ if((Line[C_SPOT].read()==1)&&(1)&&(pow_y>0)){
+ data.lnStop[Y_LINE]=0;
+ }
+ }
+ //JSO3
+ if((Line[C_SPOT].read()==1)&&(1)&&(pow_y>0)){
+ data.lnStop[Y_LINE]=0;
+ }
+ //JSO1
+ if(data.lnRawReturn==1){
+ //JSO2
+ if((lnRawReturn1==0)){
+ LineLiberate();
+ lnRawReturn1=1;
+ }
+
+ if(
+ (
+ ((data.lnRawOrder[0]==A_SPOT)&&(data.lnRawOrder[1]==C_SPOT)&&(1))||
+ ((data.lnRawOrder[0]==B_SPOT)&&(data.lnRawOrder[1]==C_SPOT)&&(1))
+ )&&
+ //((Line[A_SPOT].read()==1)&&(Line[B_SPOT].read()==1))&&//JSO1
+ ((LineHolding[A_SPOT].read()==1)&&(LineHolding[B_SPOT].read()==1))&&//JSO2
+ ((data.ping[F_PING]<45)&&(1))&&//JSO2
+ //(!((data.ping[B_PING]<40)&&(data.ping[B_PING]>25)))&&//JSO2
+ ((data.lnRawOrder[0]!=C_SPOT)&&(data.lnRawOrderLog1[0]!=C_SPOT)&&(data.lnRawOrderLog2[0]!=C_SPOT))
+
+ ){
+ *y = -LineReturn[4];
+ data.lnStop[Y_LINE]=0;//JSO2
+ }
+ }
+ else{
+ lnRawReturn1=0;
+
+
+ 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;
+ }
+
}
}
--- a/main_processing/strategy/strategy.cpp Fri Mar 25 14:56:52 2016 +0000
+++ b/main_processing/strategy/strategy.cpp Sun Mar 27 13:04:39 2016 +0000
@@ -46,6 +46,9 @@
//LineLiberate();
//LineRankClear();
+ //JSO2
+ LineLiberate();
+
LineRawRankClear();
//data.lnRawMemory[A_SPOT]=0;
@@ -423,7 +426,8 @@
}
else{
ir_x = 0;
- //sys.HomeStayFlag[X_PING]=1;
+ //
+ sys.HomeStayFlag[X_PING]=1;
}
//y
if((data.ping[B_PING]>60)&&(1)&&(sys.HomeStayFlag[Y_PING]==0)){
@@ -443,7 +447,8 @@
ir_y = 0;
}
*/
- //sys.HomeStayFlag[Y_PING]=1;
+ //
+ sys.HomeStayFlag[Y_PING]=1;
}
}
else{
@@ -451,12 +456,22 @@
ir_y = (ir_y_dir + ir_y_turn);
}
if((sys.HomeBlind==0)&&(data.irNotice==IR_FAR)){
- ir_pow_x = ir_pow_y = 25;
- if(ir_y>0) ir_y=0;
- if((data.ping[B_PING]>40)&&(1)){
+ if(ir_y>0){
+ ir_y=0;
+ ir_pow_x = ir_pow_y = 25;
+
+ if((data.ping[B_PING]>50)&&(1)){
+ ir_y = -1;
+ //ir_pow_y = 15;
+ }
+
+ }
+ //ir_pow_x = ir_pow_y = 25;
+ //if(ir_y>0) ir_y=0;
+ /*if((data.ping[B_PING]>40)&&(1)){
ir_y = -1;
//ir_pow_y = 15;
- }
+ }*/
}
if(
(sys.DefenceFlag==1)&&
@@ -511,12 +526,24 @@
}
}
else{
- ir_x = 0;
+ if((abs(data.ping[L_PING]-data.ping[R_PING])>10)&&(1)){
+ if(data.ping[L_PING]>data.ping[R_PING]){
+ ir_x = -1;
+ }
+ else{
+ ir_x = 1;
+ }
+ }
+ else{
+ ir_x = 0;
+ }
+
+ //ir_x = 0;
DriveSolenoid();
}
//y
if((data.ping[F_PING]<45)&&(abs(data.ping[L_PING]-data.ping[R_PING])>50)){
- ir_y = 0.75;
+ //ir_y = 0.75;
}
//kick
if((abs(data.ping[L_PING]-data.ping[R_PING])<30)&&(1)){
--- a/main_processing/strategy_parts/input.cpp Fri Mar 25 14:56:52 2016 +0000
+++ b/main_processing/strategy_parts/input.cpp Sun Mar 27 13:04:39 2016 +0000
@@ -134,6 +134,9 @@
}
void LineRawRankClear(void){
+ //JSO2
+ LineLiberate();
+
data.lnRawOrderLog2[0]=data.lnRawOrderLog1[0];
data.lnRawOrderLog2[1]=data.lnRawOrderLog1[1];
data.lnRawOrderLog2[2]=data.lnRawOrderLog1[2];
--- a/setting/def.h Fri Mar 25 14:56:52 2016 +0000 +++ b/setting/def.h Sun Mar 27 13:04:39 2016 +0000 @@ -2,8 +2,8 @@ #define _DEF_H_ //red or green -//#define RED_CAT//jj -#define GREEN_CAT//lily +#define RED_CAT//jj +//#define GREEN_CAT//lily //BT(BlueTooth) #define DATA_NUM 8+2//2byte→KEYCODE（拝啓）とCHECKCODE（敬具） 8byte→やりとりするデータ @@ -202,7 +202,7 @@ #define MD_1CH (1) #define MD_2CH (1) #define MD_3CH (-1) -#define MD_4CH (1) +#define MD_4CH (-1) #endif /*GREEN_CAT*/