CatPot for defence on RoboCup in 2015 winter
Dependencies: AQM0802A HMC6352 MultiSerial PID Servo mbed
main.cpp@6:2c9cb40ada59, 2015-03-14 (annotated)
- Committer:
- lilac0112_1
- Date:
- Sat Mar 14 01:06:13 2015 +0000
- Revision:
- 6:2c9cb40ada59
- Parent:
- 5:c8e4d5cdc353
- Child:
- 7:81f57b67dff8
very dirty
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
lilac0112_1 | 0:d35efbf4d62e | 1 | /*********************************** |
lilac0112_1 | 2:39135c67083d | 2 | *RoboCupJunior Soccer B Open 2015 |
lilac0112_1 | 2:39135c67083d | 3 | *Koshinnestu progrum |
lilac0112_1 | 0:d35efbf4d62e | 4 | * |
lilac0112_1 | 0:d35efbf4d62e | 5 | * |
lilac0112_1 | 0:d35efbf4d62e | 6 | * データからロボットの移動やキッカー等のモータの動作を決定する処理を行う |
lilac0112_1 | 0:d35efbf4d62e | 7 | * |
lilac0112_1 | 0:d35efbf4d62e | 8 | * MotorDriverにmaxonに命令 |
lilac0112_1 | 0:d35efbf4d62e | 9 | * |
lilac0112_1 | 2:39135c67083d | 10 | * servoにステアリング指示 |
lilac0112_1 | 0:d35efbf4d62e | 11 | * |
lilac0112_1 | 0:d35efbf4d62e | 12 | * LCDでデバック |
lilac0112_1 | 0:d35efbf4d62e | 13 | * |
lilac0112_1 | 0:d35efbf4d62e | 14 | * スイッチ4つとスタートスイッチで処理を実行 |
lilac0112_1 | 0:d35efbf4d62e | 15 | * |
lilac0112_1 | 2:39135c67083d | 16 | |
lilac0112_1 | 0:d35efbf4d62e | 17 | ************************* |
lilac0112_1 | 2:39135c67083d | 18 | * Pin Map |
lilac0112_1 | 2:39135c67083d | 19 | * |
lilac0112_1 | 2:39135c67083d | 20 | * p5~p8 >> BusIn >> LineSensor |
lilac0112_1 | 0:d35efbf4d62e | 21 | * |
lilac0112_1 | 2:39135c67083d | 22 | * p9,p10 >> I2C >> LPC1114FN28/102 read & Compass |
lilac0112_1 | 0:d35efbf4d62e | 23 | * |
lilac0112_1 | 2:39135c67083d | 24 | * p13,p14 >> Serial >> Motor |
lilac0112_1 | 2:39135c67083d | 25 | * |
lilac0112_1 | 2:39135c67083d | 26 | * p21 >> PwmOut >> Servo |
lilac0112_1 | 0:d35efbf4d62e | 27 | * |
lilac0112_1 | 2:39135c67083d | 28 | * p22~p26 >> DigitalIn >> DebugSw and StartSw |
lilac0112_1 | 0:d35efbf4d62e | 29 | * |
lilac0112_1 | 2:39135c67083d | 30 | * p27,p28 >> I2C >> DebugLCD |
lilac0112_1 | 0:d35efbf4d62e | 31 | * |
lilac0112_1 | 2:39135c67083d | 32 | * p29 >> DigitalOut >> Kicker |
lilac0112_1 | 2:39135c67083d | 33 | * |
lilac0112_1 | 2:39135c67083d | 34 | * *never use pin number p11,p12,p15,p16,p17,p18,p19,p20,p30 |
lilac0112_1 | 2:39135c67083d | 35 | * |
lilac0112_1 | 2:39135c67083d | 36 | * |
lilac0112_1 | 0:d35efbf4d62e | 37 | ******************************/ |
lilac0112_1 | 0:d35efbf4d62e | 38 | |
lilac0112_1 | 0:d35efbf4d62e | 39 | #include "mbed.h" |
lilac0112_1 | 2:39135c67083d | 40 | #include <math.h> |
lilac0112_1 | 2:39135c67083d | 41 | #include <sstream> |
lilac0112_1 | 3:2f74791564c9 | 42 | |
lilac0112_1 | 3:2f74791564c9 | 43 | #include "Servo.h" |
lilac0112_1 | 0:d35efbf4d62e | 44 | #include "PID.h" |
lilac0112_1 | 0:d35efbf4d62e | 45 | #include "AQM0802A.h" |
lilac0112_1 | 2:39135c67083d | 46 | #include "main.h" |
lilac0112_1 | 0:d35efbf4d62e | 47 | |
lilac0112_1 | 0:d35efbf4d62e | 48 | |
lilac0112_1 | 3:2f74791564c9 | 49 | //#include "MultiSerial.h" |
lilac0112_1 | 3:2f74791564c9 | 50 | /* |
lilac0112_1 | 3:2f74791564c9 | 51 | void Receive(){ |
lilac0112_1 | 3:2f74791564c9 | 52 | IrData[0] = rx_data[0]; |
lilac0112_1 | 3:2f74791564c9 | 53 | IrData[1] = rx_data[1]; |
lilac0112_1 | 3:2f74791564c9 | 54 | IrData[2] = rx_data[2]; |
lilac0112_1 | 2:39135c67083d | 55 | PingData[0] = rx_data[3]; |
lilac0112_1 | 2:39135c67083d | 56 | PingData[1] = rx_data[4]; |
lilac0112_1 | 2:39135c67083d | 57 | PingData[2] = rx_data[5]; |
lilac0112_1 | 2:39135c67083d | 58 | PingData[3] = rx_data[6]; |
lilac0112_1 | 3:2f74791564c9 | 59 | |
lilac0112_1 | 0:d35efbf4d62e | 60 | |
lilac0112_1 | 3:2f74791564c9 | 61 | if((IrData[0] == 255)||(IrData[1] == 255)||(IrData[2] == 255)){ |
lilac0112_1 | 2:39135c67083d | 62 | IrNum = 12; |
lilac0112_1 | 2:39135c67083d | 63 | return; |
lilac0112_1 | 0:d35efbf4d62e | 64 | } |
lilac0112_1 | 2:39135c67083d | 65 | IrNum = IrData[0]/12; |
lilac0112_1 | 3:2f74791564c9 | 66 | |
lilac0112_1 | 4:7c488c059498 | 67 | d |
lilac0112_1 | 0:d35efbf4d62e | 68 | } |
lilac0112_1 | 3:2f74791564c9 | 69 | */ |
lilac0112_1 | 4:7c488c059498 | 70 | void Interval(void){ |
lilac0112_1 | 4:7c488c059498 | 71 | WaitFlag=0; |
lilac0112_1 | 4:7c488c059498 | 72 | } |
lilac0112_1 | 6:2c9cb40ada59 | 73 | void Interval3(void){ |
lilac0112_1 | 6:2c9cb40ada59 | 74 | CompassFlag=0; |
lilac0112_1 | 6:2c9cb40ada59 | 75 | //HomeFlag=0; |
lilac0112_1 | 6:2c9cb40ada59 | 76 | } |
lilac0112_1 | 6:2c9cb40ada59 | 77 | void Interval2(void){ |
lilac0112_1 | 6:2c9cb40ada59 | 78 | |
lilac0112_1 | 6:2c9cb40ada59 | 79 | CompassFlag=1; |
lilac0112_1 | 6:2c9cb40ada59 | 80 | //CompassFlag=0; |
lilac0112_1 | 6:2c9cb40ada59 | 81 | DTimer.attach(Interval3, 1.25); |
lilac0112_1 | 6:2c9cb40ada59 | 82 | |
lilac0112_1 | 6:2c9cb40ada59 | 83 | } |
lilac0112_1 | 6:2c9cb40ada59 | 84 | |
lilac0112_1 | 3:2f74791564c9 | 85 | void move(int vr,int vl, double vs ,int Degree){ |
lilac0112_1 | 0:d35efbf4d62e | 86 | double pwm[4] = {0}; |
lilac0112_1 | 0:d35efbf4d62e | 87 | uint8_t i = 0; |
lilac0112_1 | 6:2c9cb40ada59 | 88 | |
lilac0112_1 | 6:2c9cb40ada59 | 89 | int dec = 0; |
lilac0112_1 | 6:2c9cb40ada59 | 90 | static double CompassVias=15+dec; |
lilac0112_1 | 6:2c9cb40ada59 | 91 | |
lilac0112_1 | 6:2c9cb40ada59 | 92 | // bool BackFlag; |
lilac0112_1 | 6:2c9cb40ada59 | 93 | |
lilac0112_1 | 6:2c9cb40ada59 | 94 | //BackFlag=0; |
lilac0112_1 | 6:2c9cb40ada59 | 95 | //if((vr==vrl[6])&&(Degree==IrServo[6])&&(PingData[2]>=100))BackFlag=1; |
lilac0112_1 | 6:2c9cb40ada59 | 96 | |
lilac0112_1 | 6:2c9cb40ada59 | 97 | if(IrNum==12){ |
lilac0112_1 | 6:2c9cb40ada59 | 98 | if(vr<0){ |
lilac0112_1 | 6:2c9cb40ada59 | 99 | vr=vr-(-0); |
lilac0112_1 | 6:2c9cb40ada59 | 100 | vl=vr-(-0); |
lilac0112_1 | 6:2c9cb40ada59 | 101 | } |
lilac0112_1 | 6:2c9cb40ada59 | 102 | else{ |
lilac0112_1 | 6:2c9cb40ada59 | 103 | vr=vr-0; |
lilac0112_1 | 6:2c9cb40ada59 | 104 | vl=vr-0; |
lilac0112_1 | 6:2c9cb40ada59 | 105 | } |
lilac0112_1 | 6:2c9cb40ada59 | 106 | } |
lilac0112_1 | 6:2c9cb40ada59 | 107 | |
lilac0112_1 | 6:2c9cb40ada59 | 108 | //CompassFlag=0; |
lilac0112_1 | 4:7c488c059498 | 109 | |
lilac0112_1 | 4:7c488c059498 | 110 | vr=vr*( 1.0); |
lilac0112_1 | 4:7c488c059498 | 111 | vl=vl*(-1.0); |
lilac0112_1 | 4:7c488c059498 | 112 | Degree = Degree*(-1.0); |
lilac0112_1 | 3:2f74791564c9 | 113 | |
lilac0112_1 | 4:7c488c059498 | 114 | CompassDif=(((Compass / 10) + 540 - CompassDef) % 360) - REFERENCE; |
lilac0112_1 | 6:2c9cb40ada59 | 115 | if( |
lilac0112_1 | 6:2c9cb40ada59 | 116 | (abs(CompassDif)<CompassVias )|| |
lilac0112_1 | 6:2c9cb40ada59 | 117 | CompassFlag/*((BackFlag==1)&&(abs(CompassDif)<45) )*/ |
lilac0112_1 | 6:2c9cb40ada59 | 118 | ){ |
lilac0112_1 | 4:7c488c059498 | 119 | |
lilac0112_1 | 6:2c9cb40ada59 | 120 | CompassVias=15+dec; |
lilac0112_1 | 6:2c9cb40ada59 | 121 | if(IrNum==12) CompassVias=15+dec; |
lilac0112_1 | 4:7c488c059498 | 122 | |
lilac0112_1 | 4:7c488c059498 | 123 | pwm[0] = LastPwm[0] = vr; |
lilac0112_1 | 4:7c488c059498 | 124 | pwm[1] = LastPwm[1] =0; |
lilac0112_1 | 4:7c488c059498 | 125 | pwm[2] = LastPwm[2] =0; |
lilac0112_1 | 4:7c488c059498 | 126 | pwm[3] = LastPwm[3] =vl*(1.0); |
lilac0112_1 | 4:7c488c059498 | 127 | |
lilac0112_1 | 4:7c488c059498 | 128 | LastDeg = Degree; |
lilac0112_1 | 4:7c488c059498 | 129 | |
lilac0112_1 | 4:7c488c059498 | 130 | |
lilac0112_1 | 3:2f74791564c9 | 131 | } |
lilac0112_1 | 3:2f74791564c9 | 132 | else{ |
lilac0112_1 | 3:2f74791564c9 | 133 | |
lilac0112_1 | 6:2c9cb40ada59 | 134 | CompassVias=10+dec; |
lilac0112_1 | 4:7c488c059498 | 135 | |
lilac0112_1 | 4:7c488c059498 | 136 | if(CompassDif<0){ |
lilac0112_1 | 4:7c488c059498 | 137 | //vs = vs - (20-CompassVias); |
lilac0112_1 | 4:7c488c059498 | 138 | vs = -(15+(abs(CompassDif))*0.1); |
lilac0112_1 | 6:2c9cb40ada59 | 139 | if( abs(CompassDif) >= 100) vs = -(15+(100)*0.1); |
lilac0112_1 | 3:2f74791564c9 | 140 | } |
lilac0112_1 | 3:2f74791564c9 | 141 | else{ |
lilac0112_1 | 4:7c488c059498 | 142 | //vs = vs + (20-CompassVias); |
lilac0112_1 | 4:7c488c059498 | 143 | vs = (15+(abs(CompassDif))*0.1); |
lilac0112_1 | 6:2c9cb40ada59 | 144 | if( abs(CompassDif) >= 100) vs = (15+(100)*0.1); |
lilac0112_1 | 3:2f74791564c9 | 145 | } |
lilac0112_1 | 3:2f74791564c9 | 146 | |
lilac0112_1 | 3:2f74791564c9 | 147 | pwm[0] = vs; |
lilac0112_1 | 3:2f74791564c9 | 148 | pwm[1] = 0; |
lilac0112_1 | 3:2f74791564c9 | 149 | pwm[2] = 0; |
lilac0112_1 | 3:2f74791564c9 | 150 | pwm[3] = vs*(-1)*(-1); |
lilac0112_1 | 4:7c488c059498 | 151 | |
lilac0112_1 | 4:7c488c059498 | 152 | Degree = 0.0; |
lilac0112_1 | 6:2c9cb40ada59 | 153 | CTimer.attach(Interval2, 0.2); |
lilac0112_1 | 3:2f74791564c9 | 154 | } |
lilac0112_1 | 6:2c9cb40ada59 | 155 | if(Loop|0){ |
lilac0112_1 | 3:2f74791564c9 | 156 | pwm[0] = 0; |
lilac0112_1 | 3:2f74791564c9 | 157 | pwm[1] = 0; |
lilac0112_1 | 3:2f74791564c9 | 158 | pwm[2] = 0; |
lilac0112_1 | 3:2f74791564c9 | 159 | pwm[3] = 0; |
lilac0112_1 | 3:2f74791564c9 | 160 | } |
lilac0112_1 | 4:7c488c059498 | 161 | |
lilac0112_1 | 4:7c488c059498 | 162 | |
lilac0112_1 | 0:d35efbf4d62e | 163 | for(i = 0; i < 4; i++){ |
lilac0112_1 | 0:d35efbf4d62e | 164 | if(pwm[i] > 100){ |
lilac0112_1 | 0:d35efbf4d62e | 165 | pwm[i] = 100; |
lilac0112_1 | 0:d35efbf4d62e | 166 | }else if(pwm[i] < -100){ |
lilac0112_1 | 0:d35efbf4d62e | 167 | pwm[i] = -100; |
lilac0112_1 | 0:d35efbf4d62e | 168 | } |
lilac0112_1 | 0:d35efbf4d62e | 169 | speed[i] = pwm[i]; |
lilac0112_1 | 0:d35efbf4d62e | 170 | } |
lilac0112_1 | 3:2f74791564c9 | 171 | if(Degree > 110){ |
lilac0112_1 | 3:2f74791564c9 | 172 | Degree = 110; |
lilac0112_1 | 3:2f74791564c9 | 173 | }else if(Degree < -110){ |
lilac0112_1 | 3:2f74791564c9 | 174 | Degree = -110; |
lilac0112_1 | 3:2f74791564c9 | 175 | } |
lilac0112_1 | 4:7c488c059498 | 176 | |
lilac0112_1 | 4:7c488c059498 | 177 | if(WaitFlag==1) Degree = LastDegree; |
lilac0112_1 | 4:7c488c059498 | 178 | |
lilac0112_1 | 4:7c488c059498 | 179 | |
lilac0112_1 | 6:2c9cb40ada59 | 180 | |
lilac0112_1 | 4:7c488c059498 | 181 | SetDegree = LastDegree = Degree; |
lilac0112_1 | 3:2f74791564c9 | 182 | S555.position(SetDegree*11.0/9.0); |
lilac0112_1 | 4:7c488c059498 | 183 | |
lilac0112_1 | 4:7c488c059498 | 184 | if(WaitFlag==0){ |
lilac0112_1 | 4:7c488c059498 | 185 | WaitFlag = 1; |
lilac0112_1 | 4:7c488c059498 | 186 | STimer.attach(Interval, WAIT_TIME); |
lilac0112_1 | 4:7c488c059498 | 187 | } |
lilac0112_1 | 4:7c488c059498 | 188 | |
lilac0112_1 | 4:7c488c059498 | 189 | } |
lilac0112_1 | 4:7c488c059498 | 190 | |
lilac0112_1 | 4:7c488c059498 | 191 | void moving(int IrNumber){ |
lilac0112_1 | 4:7c488c059498 | 192 | move(vrl[IrNumber],vrl[IrNumber],0,IrServo[IrNumber]); |
lilac0112_1 | 2:39135c67083d | 193 | } |
lilac0112_1 | 3:2f74791564c9 | 194 | |
lilac0112_1 | 3:2f74791564c9 | 195 | uint8_t PingChange(uint8_t LineData){ |
lilac0112_1 | 3:2f74791564c9 | 196 | static uint8_t Last_Line; |
lilac0112_1 | 3:2f74791564c9 | 197 | static uint8_t Last_Ping; |
lilac0112_1 | 3:2f74791564c9 | 198 | uint8_t LinePing = 0; |
lilac0112_1 | 3:2f74791564c9 | 199 | |
lilac0112_1 | 3:2f74791564c9 | 200 | if(!LineData){ |
lilac0112_1 | 3:2f74791564c9 | 201 | return 0; |
lilac0112_1 | 3:2f74791564c9 | 202 | } |
lilac0112_1 | 3:2f74791564c9 | 203 | |
lilac0112_1 | 4:7c488c059498 | 204 | if(PingData[0] <20) LinePing = LinePing + 8; |
lilac0112_1 | 4:7c488c059498 | 205 | if(PingData[1] <20) LinePing = LinePing + 2; |
lilac0112_1 | 4:7c488c059498 | 206 | if(PingData[2] <20) LinePing = LinePing + 4; |
lilac0112_1 | 4:7c488c059498 | 207 | if(PingData[3] <20) LinePing = LinePing + 1; |
lilac0112_1 | 3:2f74791564c9 | 208 | |
lilac0112_1 | 3:2f74791564c9 | 209 | |
lilac0112_1 | 3:2f74791564c9 | 210 | if(LinePing&0x01){ |
lilac0112_1 | 3:2f74791564c9 | 211 | if((LineData&0x01) ||(Last_Line&0x01)||(Last_Ping&0x01)){ |
lilac0112_1 | 3:2f74791564c9 | 212 | Last_Ping = LinePing; |
lilac0112_1 | 3:2f74791564c9 | 213 | Last_Line = LineData; |
lilac0112_1 | 3:2f74791564c9 | 214 | return 1; |
lilac0112_1 | 3:2f74791564c9 | 215 | } |
lilac0112_1 | 3:2f74791564c9 | 216 | } |
lilac0112_1 | 3:2f74791564c9 | 217 | if(LinePing&0x02){ |
lilac0112_1 | 3:2f74791564c9 | 218 | if((LineData&0x02) ||(Last_Line&0x02)||(Last_Ping&0x02)){ |
lilac0112_1 | 3:2f74791564c9 | 219 | Last_Ping = LinePing; |
lilac0112_1 | 3:2f74791564c9 | 220 | Last_Line = LineData; |
lilac0112_1 | 3:2f74791564c9 | 221 | return 2; |
lilac0112_1 | 3:2f74791564c9 | 222 | } |
lilac0112_1 | 3:2f74791564c9 | 223 | } |
lilac0112_1 | 3:2f74791564c9 | 224 | if(LinePing&0x04){ |
lilac0112_1 | 3:2f74791564c9 | 225 | if((LineData&0x04) ||(Last_Line&0x04)||(Last_Ping&0x04)){ |
lilac0112_1 | 3:2f74791564c9 | 226 | Last_Ping = LinePing; |
lilac0112_1 | 3:2f74791564c9 | 227 | Last_Line = LineData; |
lilac0112_1 | 3:2f74791564c9 | 228 | return 4; |
lilac0112_1 | 3:2f74791564c9 | 229 | } |
lilac0112_1 | 3:2f74791564c9 | 230 | } |
lilac0112_1 | 3:2f74791564c9 | 231 | if(LinePing&0x08){ |
lilac0112_1 | 3:2f74791564c9 | 232 | if((LineData&0x08) ||(Last_Line&0x08)||(Last_Ping&0x08)){ |
lilac0112_1 | 3:2f74791564c9 | 233 | Last_Ping = LinePing; |
lilac0112_1 | 3:2f74791564c9 | 234 | Last_Line = LineData; |
lilac0112_1 | 3:2f74791564c9 | 235 | return 8; |
lilac0112_1 | 3:2f74791564c9 | 236 | } |
lilac0112_1 | 3:2f74791564c9 | 237 | } |
lilac0112_1 | 3:2f74791564c9 | 238 | Last_Ping = 0; |
lilac0112_1 | 3:2f74791564c9 | 239 | Last_Line = 0; |
lilac0112_1 | 3:2f74791564c9 | 240 | return 0; |
lilac0112_1 | 3:2f74791564c9 | 241 | |
lilac0112_1 | 3:2f74791564c9 | 242 | } |
lilac0112_1 | 3:2f74791564c9 | 243 | |
lilac0112_1 | 3:2f74791564c9 | 244 | void fool (int *Degree, int *Power){ |
lilac0112_1 | 3:2f74791564c9 | 245 | static int Last_Degree = 0; |
lilac0112_1 | 2:39135c67083d | 246 | static int Last_Vector = 1; |
lilac0112_1 | 3:2f74791564c9 | 247 | int degree = *Degree; |
lilac0112_1 | 2:39135c67083d | 248 | int Temp; |
lilac0112_1 | 3:2f74791564c9 | 249 | |
lilac0112_1 | 3:2f74791564c9 | 250 | |
lilac0112_1 | 3:2f74791564c9 | 251 | if((*Degree <0)||(*Degree >=360)){ |
lilac0112_1 | 3:2f74791564c9 | 252 | *Degree = 0; |
lilac0112_1 | 3:2f74791564c9 | 253 | Last_Degree = 0; |
lilac0112_1 | 3:2f74791564c9 | 254 | Last_Vector = 1; |
lilac0112_1 | 3:2f74791564c9 | 255 | return ; |
lilac0112_1 | 3:2f74791564c9 | 256 | } |
lilac0112_1 | 3:2f74791564c9 | 257 | |
lilac0112_1 | 3:2f74791564c9 | 258 | Temp = Last_Degree % 180; |
lilac0112_1 | 3:2f74791564c9 | 259 | if((Temp==90)){ |
lilac0112_1 | 3:2f74791564c9 | 260 | Temp = *Degree % 180; |
lilac0112_1 | 3:2f74791564c9 | 261 | if((Temp==90)){ |
lilac0112_1 | 3:2f74791564c9 | 262 | Temp = abs(*Degree - Last_Degree); |
lilac0112_1 | 2:39135c67083d | 263 | if(Temp>160){ |
lilac0112_1 | 2:39135c67083d | 264 | Last_Vector = -1 * Last_Vector;//正転逆転切り替え |
lilac0112_1 | 3:2f74791564c9 | 265 | if(*Degree/180){ |
lilac0112_1 | 3:2f74791564c9 | 266 | *Degree = Angle[Last_Degree%180] -(Last_Degree - *Degree%180); |
lilac0112_1 | 2:39135c67083d | 267 | *Power = *Power * Last_Vector; |
lilac0112_1 | 2:39135c67083d | 268 | }else{ |
lilac0112_1 | 3:2f74791564c9 | 269 | *Degree = Angle[Last_Degree%180] -(Last_Degree%180 - *Degree); |
lilac0112_1 | 2:39135c67083d | 270 | *Power = *Power * Last_Vector; |
lilac0112_1 | 2:39135c67083d | 271 | } |
lilac0112_1 | 3:2f74791564c9 | 272 | Last_Degree = degree; |
lilac0112_1 | 3:2f74791564c9 | 273 | if((*Degree <= -120)||(*Degree >=120)){ |
lilac0112_1 | 3:2f74791564c9 | 274 | *Degree = 0; |
lilac0112_1 | 3:2f74791564c9 | 275 | } |
lilac0112_1 | 2:39135c67083d | 276 | return; |
lilac0112_1 | 2:39135c67083d | 277 | }else if((Last_Vector+2) == 1){ |
lilac0112_1 | 2:39135c67083d | 278 | /*逆転のまま角度拡張*/ |
lilac0112_1 | 3:2f74791564c9 | 279 | if(*Degree/180){ |
lilac0112_1 | 3:2f74791564c9 | 280 | *Degree = -360 + *Degree ; |
lilac0112_1 | 3:2f74791564c9 | 281 | |
lilac0112_1 | 2:39135c67083d | 282 | } |
lilac0112_1 | 3:2f74791564c9 | 283 | *Power = *Power * Last_Vector; |
lilac0112_1 | 3:2f74791564c9 | 284 | Last_Degree = degree; |
lilac0112_1 | 3:2f74791564c9 | 285 | if((*Degree <= -120)||(*Degree >=120)){ |
lilac0112_1 | 3:2f74791564c9 | 286 | *Degree = 0; |
lilac0112_1 | 3:2f74791564c9 | 287 | |
lilac0112_1 | 3:2f74791564c9 | 288 | } |
lilac0112_1 | 2:39135c67083d | 289 | return; |
lilac0112_1 | 2:39135c67083d | 290 | |
lilac0112_1 | 2:39135c67083d | 291 | }else if((Last_Vector+2) == 3){ |
lilac0112_1 | 2:39135c67083d | 292 | /*正転のまま*/ |
lilac0112_1 | 3:2f74791564c9 | 293 | if(*Degree/180){ |
lilac0112_1 | 3:2f74791564c9 | 294 | *Degree = -360 + *Degree ; |
lilac0112_1 | 2:39135c67083d | 295 | } |
lilac0112_1 | 3:2f74791564c9 | 296 | *Power = *Power * Last_Vector; |
lilac0112_1 | 3:2f74791564c9 | 297 | Last_Degree = degree; |
lilac0112_1 | 3:2f74791564c9 | 298 | if((*Degree <= -120)||(*Degree >=120)){ |
lilac0112_1 | 3:2f74791564c9 | 299 | *Degree = 0; |
lilac0112_1 | 3:2f74791564c9 | 300 | } |
lilac0112_1 | 2:39135c67083d | 301 | return; |
lilac0112_1 | 2:39135c67083d | 302 | } |
lilac0112_1 | 2:39135c67083d | 303 | } |
lilac0112_1 | 2:39135c67083d | 304 | } |
lilac0112_1 | 2:39135c67083d | 305 | /*通常動作*/ |
lilac0112_1 | 3:2f74791564c9 | 306 | if(*Degree == 0){ |
lilac0112_1 | 3:2f74791564c9 | 307 | Last_Vector = DegreeToVector[0]; |
lilac0112_1 | 3:2f74791564c9 | 308 | *Degree = Angle[*Degree%180]; |
lilac0112_1 | 3:2f74791564c9 | 309 | *Power = *Power * Last_Vector; |
lilac0112_1 | 3:2f74791564c9 | 310 | Last_Degree = degree; |
lilac0112_1 | 3:2f74791564c9 | 311 | return ; |
lilac0112_1 | 3:2f74791564c9 | 312 | } |
lilac0112_1 | 4:7c488c059498 | 313 | if(*Degree == 270){ |
lilac0112_1 | 4:7c488c059498 | 314 | Last_Vector = DegreeToVector[0]; |
lilac0112_1 | 4:7c488c059498 | 315 | *Degree = -90; |
lilac0112_1 | 4:7c488c059498 | 316 | *Power = *Power * Last_Vector; |
lilac0112_1 | 4:7c488c059498 | 317 | Last_Degree = degree; |
lilac0112_1 | 4:7c488c059498 | 318 | return ; |
lilac0112_1 | 4:7c488c059498 | 319 | } |
lilac0112_1 | 4:7c488c059498 | 320 | Last_Vector = DegreeToVector[(*Degree)/90]; |
lilac0112_1 | 3:2f74791564c9 | 321 | *Degree = Angle[*Degree%180]; |
lilac0112_1 | 2:39135c67083d | 322 | *Power = *Power * Last_Vector; |
lilac0112_1 | 3:2f74791564c9 | 323 | Last_Degree = degree; |
lilac0112_1 | 3:2f74791564c9 | 324 | if((*Degree <= -120)||(*Degree >=120)){ |
lilac0112_1 | 3:2f74791564c9 | 325 | *Degree = 0; |
lilac0112_1 | 3:2f74791564c9 | 326 | } |
lilac0112_1 | 2:39135c67083d | 327 | |
lilac0112_1 | 2:39135c67083d | 328 | } |
lilac0112_1 | 3:2f74791564c9 | 329 | int IrDegree(){ |
lilac0112_1 | 2:39135c67083d | 330 | /*irの1位の値,2位の場所からirの360へ持っていく*/ |
lilac0112_1 | 2:39135c67083d | 331 | |
lilac0112_1 | 3:2f74791564c9 | 332 | uint8_t IrF ,IrS; |
lilac0112_1 | 3:2f74791564c9 | 333 | unsigned int irdegree = 0; |
lilac0112_1 | 3:2f74791564c9 | 334 | if(IrNum >=12){ |
lilac0112_1 | 3:2f74791564c9 | 335 | return 0; |
lilac0112_1 | 3:2f74791564c9 | 336 | } |
lilac0112_1 | 3:2f74791564c9 | 337 | IrF = IrData[0]/12; |
lilac0112_1 | 3:2f74791564c9 | 338 | IrS = IrData[0]%12; |
lilac0112_1 | 3:2f74791564c9 | 339 | |
lilac0112_1 | 3:2f74791564c9 | 340 | if(IrF == 0 ){ |
lilac0112_1 | 3:2f74791564c9 | 341 | if(IrS == 11){ |
lilac0112_1 | 3:2f74791564c9 | 342 | irdegree = 15; |
lilac0112_1 | 2:39135c67083d | 343 | |
lilac0112_1 | 3:2f74791564c9 | 344 | }else if(IrS == 1){ |
lilac0112_1 | 3:2f74791564c9 | 345 | irdegree = 345; |
lilac0112_1 | 3:2f74791564c9 | 346 | } |
lilac0112_1 | 3:2f74791564c9 | 347 | return irdegree; |
lilac0112_1 | 3:2f74791564c9 | 348 | } |
lilac0112_1 | 3:2f74791564c9 | 349 | irdegree = 360 - IrF*30; |
lilac0112_1 | 3:2f74791564c9 | 350 | if(IrS&&(abs(IrF-IrS) == 1)){ |
lilac0112_1 | 3:2f74791564c9 | 351 | irdegree = irdegree - (IrF - IrS)*15; |
lilac0112_1 | 2:39135c67083d | 352 | |
lilac0112_1 | 2:39135c67083d | 353 | } |
lilac0112_1 | 3:2f74791564c9 | 354 | if(irdegree>=360){ |
lilac0112_1 | 3:2f74791564c9 | 355 | return 0; |
lilac0112_1 | 3:2f74791564c9 | 356 | } |
lilac0112_1 | 3:2f74791564c9 | 357 | |
lilac0112_1 | 3:2f74791564c9 | 358 | return irdegree; |
lilac0112_1 | 0:d35efbf4d62e | 359 | } |
lilac0112_1 | 0:d35efbf4d62e | 360 | |
lilac0112_1 | 2:39135c67083d | 361 | |
lilac0112_1 | 3:2f74791564c9 | 362 | void IrFrontAction()//ball 12 or 0 o-clock |
lilac0112_1 | 1:e3248f278663 | 363 | { |
lilac0112_1 | 3:2f74791564c9 | 364 | if(IrData[1]>70){ |
lilac0112_1 | 3:2f74791564c9 | 365 | if(abs(CompassPID)>10){ |
lilac0112_1 | 3:2f74791564c9 | 366 | move(0,0,CompassPID,0); |
lilac0112_1 | 3:2f74791564c9 | 367 | return; |
lilac0112_1 | 3:2f74791564c9 | 368 | } |
lilac0112_1 | 3:2f74791564c9 | 369 | move(30,30,CompassPID,0); |
lilac0112_1 | 3:2f74791564c9 | 370 | return; |
lilac0112_1 | 3:2f74791564c9 | 371 | } |
lilac0112_1 | 3:2f74791564c9 | 372 | if(IrData[1]>60){ |
lilac0112_1 | 3:2f74791564c9 | 373 | move(25,25,CompassPID,0); |
lilac0112_1 | 3:2f74791564c9 | 374 | return; |
lilac0112_1 | 3:2f74791564c9 | 375 | } |
lilac0112_1 | 3:2f74791564c9 | 376 | /*IrData[1]>500*/ |
lilac0112_1 | 3:2f74791564c9 | 377 | |
lilac0112_1 | 3:2f74791564c9 | 378 | if(PingData[0]<50){ |
lilac0112_1 | 3:2f74791564c9 | 379 | if((PingData[1]<60)&&(PingData[1]>40)){ |
lilac0112_1 | 3:2f74791564c9 | 380 | /*右側に居る*/ |
lilac0112_1 | 3:2f74791564c9 | 381 | move(25,40,0,10); |
lilac0112_1 | 3:2f74791564c9 | 382 | wait_ms(100); |
lilac0112_1 | 3:2f74791564c9 | 383 | move(30,30,0,0); |
lilac0112_1 | 3:2f74791564c9 | 384 | return; |
lilac0112_1 | 3:2f74791564c9 | 385 | } |
lilac0112_1 | 3:2f74791564c9 | 386 | if((PingData[1]<60)&&(PingData[1]>40)){ |
lilac0112_1 | 3:2f74791564c9 | 387 | /*左側に居る*/ |
lilac0112_1 | 3:2f74791564c9 | 388 | move(40,25,0,-10); |
lilac0112_1 | 3:2f74791564c9 | 389 | wait_ms(100); |
lilac0112_1 | 3:2f74791564c9 | 390 | move(30,30,0,0); |
lilac0112_1 | 3:2f74791564c9 | 391 | return; |
lilac0112_1 | 3:2f74791564c9 | 392 | } |
lilac0112_1 | 3:2f74791564c9 | 393 | /*それ以外*/ |
lilac0112_1 | 3:2f74791564c9 | 394 | move(10,10,CompassPID,0); |
lilac0112_1 | 3:2f74791564c9 | 395 | //Receive(); |
lilac0112_1 | 3:2f74791564c9 | 396 | if(!(IrNum == 0)) return; |
lilac0112_1 | 3:2f74791564c9 | 397 | move(40,40,CompassPID,0); |
lilac0112_1 | 3:2f74791564c9 | 398 | return ; |
lilac0112_1 | 3:2f74791564c9 | 399 | } |
lilac0112_1 | 3:2f74791564c9 | 400 | move(20,20,CompassPID,0); |
lilac0112_1 | 3:2f74791564c9 | 401 | |
lilac0112_1 | 3:2f74791564c9 | 402 | |
lilac0112_1 | 1:e3248f278663 | 403 | |
lilac0112_1 | 1:e3248f278663 | 404 | } |
lilac0112_1 | 2:39135c67083d | 405 | |
lilac0112_1 | 3:2f74791564c9 | 406 | void IrBackAction()//ball found six o-clock |
lilac0112_1 | 0:d35efbf4d62e | 407 | { |
lilac0112_1 | 2:39135c67083d | 408 | /*** |
lilac0112_1 | 2:39135c67083d | 409 | * 6時にボールがある場合の処理.右と左のスペースを確認して広い方から回り込む |
lilac0112_1 | 2:39135c67083d | 410 | * |
lilac0112_1 | 2:39135c67083d | 411 | **/ |
lilac0112_1 | 3:2f74791564c9 | 412 | if(PingData[1]>PingData[3]){ |
lilac0112_1 | 2:39135c67083d | 413 | /*右が大きい*/ |
lilac0112_1 | 3:2f74791564c9 | 414 | if(IrData[1]>70){ |
lilac0112_1 | 3:2f74791564c9 | 415 | move(-20,-20,CompassPID,45); |
lilac0112_1 | 3:2f74791564c9 | 416 | return; |
lilac0112_1 | 3:2f74791564c9 | 417 | } |
lilac0112_1 | 3:2f74791564c9 | 418 | if(IrData[1]>60){ |
lilac0112_1 | 3:2f74791564c9 | 419 | move(-20,-20,CompassPID,60); |
lilac0112_1 | 3:2f74791564c9 | 420 | return; |
lilac0112_1 | 3:2f74791564c9 | 421 | } |
lilac0112_1 | 3:2f74791564c9 | 422 | move(-20,-20,CompassPID,80); |
lilac0112_1 | 0:d35efbf4d62e | 423 | return; |
lilac0112_1 | 0:d35efbf4d62e | 424 | } |
lilac0112_1 | 2:39135c67083d | 425 | /*左が大きい*/ |
lilac0112_1 | 0:d35efbf4d62e | 426 | |
lilac0112_1 | 3:2f74791564c9 | 427 | if(IrData[1]>70){ |
lilac0112_1 | 3:2f74791564c9 | 428 | move(-20,-20,CompassPID,-45); |
lilac0112_1 | 3:2f74791564c9 | 429 | return; |
lilac0112_1 | 0:d35efbf4d62e | 430 | } |
lilac0112_1 | 3:2f74791564c9 | 431 | if(IrData[1]>60){ |
lilac0112_1 | 3:2f74791564c9 | 432 | move(-20,-20,CompassPID,-60); |
lilac0112_1 | 3:2f74791564c9 | 433 | return; |
lilac0112_1 | 3:2f74791564c9 | 434 | } |
lilac0112_1 | 3:2f74791564c9 | 435 | move(-20,-20,CompassPID,-80); |
lilac0112_1 | 3:2f74791564c9 | 436 | return; |
lilac0112_1 | 2:39135c67083d | 437 | |
lilac0112_1 | 3:2f74791564c9 | 438 | } |
lilac0112_1 | 3:2f74791564c9 | 439 | |
lilac0112_1 | 3:2f74791564c9 | 440 | void GoHome()//Ball is not found. |
lilac0112_1 | 3:2f74791564c9 | 441 | { |
lilac0112_1 | 4:7c488c059498 | 442 | static bool State[20]={0}; |
lilac0112_1 | 4:7c488c059498 | 443 | /* |
lilac0112_1 | 4:7c488c059498 | 444 | State |
lilac0112_1 | 4:7c488c059498 | 445 | 0 |
lilac0112_1 | 4:7c488c059498 | 446 | 1 |
lilac0112_1 | 4:7c488c059498 | 447 | 2 |
lilac0112_1 | 4:7c488c059498 | 448 | 3 |
lilac0112_1 | 4:7c488c059498 | 449 | 4 |
lilac0112_1 | 4:7c488c059498 | 450 | 5 |
lilac0112_1 | 4:7c488c059498 | 451 | 6 |
lilac0112_1 | 4:7c488c059498 | 452 | */ |
lilac0112_1 | 4:7c488c059498 | 453 | |
lilac0112_1 | 4:7c488c059498 | 454 | |
lilac0112_1 | 4:7c488c059498 | 455 | for(int i=0; i<20; i++) State[i]=0; |
lilac0112_1 | 4:7c488c059498 | 456 | |
lilac0112_1 | 4:7c488c059498 | 457 | |
lilac0112_1 | 4:7c488c059498 | 458 | |
lilac0112_1 | 4:7c488c059498 | 459 | if(PingData[2] >=60) State[0]=1; |
lilac0112_1 | 4:7c488c059498 | 460 | |
lilac0112_1 | 4:7c488c059498 | 461 | if(PingData[2] <=40) State[1]=1; |
lilac0112_1 | 4:7c488c059498 | 462 | |
lilac0112_1 | 4:7c488c059498 | 463 | if(PingData[2] >=90-10) State[5]=1; |
lilac0112_1 | 4:7c488c059498 | 464 | |
lilac0112_1 | 4:7c488c059498 | 465 | if(PingData[2] <=40+10) State[6]=1; |
lilac0112_1 | 4:7c488c059498 | 466 | |
lilac0112_1 | 5:c8e4d5cdc353 | 467 | if(PingData[2] >=30) State[7]=1; |
lilac0112_1 | 4:7c488c059498 | 468 | |
lilac0112_1 | 5:c8e4d5cdc353 | 469 | if(PingData[2] <=10) State[8]=1; |
lilac0112_1 | 4:7c488c059498 | 470 | |
lilac0112_1 | 6:2c9cb40ada59 | 471 | if((PingData[2] >=10)&&(PingData[2] <=30)) State[9]=1; |
lilac0112_1 | 4:7c488c059498 | 472 | |
lilac0112_1 | 6:2c9cb40ada59 | 473 | if(PingData[2] <10) State[10]=1; |
lilac0112_1 | 5:c8e4d5cdc353 | 474 | |
lilac0112_1 | 5:c8e4d5cdc353 | 475 | if(PingData[2] >25) State[11]=1; |
lilac0112_1 | 4:7c488c059498 | 476 | |
lilac0112_1 | 4:7c488c059498 | 477 | |
lilac0112_1 | 4:7c488c059498 | 478 | if(PingData[0]>PingData[1]) State[2]=1; |
lilac0112_1 | 4:7c488c059498 | 479 | |
lilac0112_1 | 4:7c488c059498 | 480 | if( |
lilac0112_1 | 4:7c488c059498 | 481 | (PingData[0]+PingData[1]) |
lilac0112_1 | 4:7c488c059498 | 482 | >= 120 |
lilac0112_1 | 4:7c488c059498 | 483 | ) State[3]=1; |
lilac0112_1 | 4:7c488c059498 | 484 | |
lilac0112_1 | 4:7c488c059498 | 485 | if( |
lilac0112_1 | 4:7c488c059498 | 486 | (abs( int( int(PingData[0]) - int(PingData[1]) ) ) ) |
lilac0112_1 | 6:2c9cb40ada59 | 487 | <= 25 |
lilac0112_1 | 4:7c488c059498 | 488 | ) State[4]=1; |
lilac0112_1 | 4:7c488c059498 | 489 | |
lilac0112_1 | 4:7c488c059498 | 490 | |
lilac0112_1 | 4:7c488c059498 | 491 | /*if(State[0]){ |
lilac0112_1 | 4:7c488c059498 | 492 | |
lilac0112_1 | 4:7c488c059498 | 493 | move(vrl[6],vrl[6],CompassPID,IrServo[6]); |
lilac0112_1 | 4:7c488c059498 | 494 | return ; |
lilac0112_1 | 4:7c488c059498 | 495 | }*/ |
lilac0112_1 | 4:7c488c059498 | 496 | |
lilac0112_1 | 6:2c9cb40ada59 | 497 | |
lilac0112_1 | 6:2c9cb40ada59 | 498 | |
lilac0112_1 | 6:2c9cb40ada59 | 499 | |
lilac0112_1 | 4:7c488c059498 | 500 | if(State[4]){ |
lilac0112_1 | 5:c8e4d5cdc353 | 501 | |
lilac0112_1 | 6:2c9cb40ada59 | 502 | |
lilac0112_1 | 6:2c9cb40ada59 | 503 | if(State[10]){ |
lilac0112_1 | 5:c8e4d5cdc353 | 504 | moving(12); |
lilac0112_1 | 5:c8e4d5cdc353 | 505 | return ; |
lilac0112_1 | 5:c8e4d5cdc353 | 506 | } |
lilac0112_1 | 5:c8e4d5cdc353 | 507 | if(State[11]){ |
lilac0112_1 | 5:c8e4d5cdc353 | 508 | moving(6); |
lilac0112_1 | 5:c8e4d5cdc353 | 509 | return ; |
lilac0112_1 | 4:7c488c059498 | 510 | } |
lilac0112_1 | 6:2c9cb40ada59 | 511 | if(State[9]){ |
lilac0112_1 | 6:2c9cb40ada59 | 512 | moving(12); |
lilac0112_1 | 6:2c9cb40ada59 | 513 | HomeFlag=1; |
lilac0112_1 | 6:2c9cb40ada59 | 514 | return ; |
lilac0112_1 | 6:2c9cb40ada59 | 515 | } |
lilac0112_1 | 6:2c9cb40ada59 | 516 | else{ |
lilac0112_1 | 6:2c9cb40ada59 | 517 | moving(12); |
lilac0112_1 | 6:2c9cb40ada59 | 518 | HomeFlag=1; |
lilac0112_1 | 6:2c9cb40ada59 | 519 | return ; |
lilac0112_1 | 6:2c9cb40ada59 | 520 | } |
lilac0112_1 | 4:7c488c059498 | 521 | |
lilac0112_1 | 4:7c488c059498 | 522 | }else{ |
lilac0112_1 | 6:2c9cb40ada59 | 523 | |
lilac0112_1 | 4:7c488c059498 | 524 | if(State[2]){ |
lilac0112_1 | 5:c8e4d5cdc353 | 525 | moving(9); |
lilac0112_1 | 6:2c9cb40ada59 | 526 | //wait(0.5); |
lilac0112_1 | 4:7c488c059498 | 527 | return ; |
lilac0112_1 | 4:7c488c059498 | 528 | } |
lilac0112_1 | 4:7c488c059498 | 529 | else{ |
lilac0112_1 | 5:c8e4d5cdc353 | 530 | moving(3); |
lilac0112_1 | 6:2c9cb40ada59 | 531 | //wait(0.5); |
lilac0112_1 | 4:7c488c059498 | 532 | return ; |
lilac0112_1 | 4:7c488c059498 | 533 | } |
lilac0112_1 | 4:7c488c059498 | 534 | } |
lilac0112_1 | 4:7c488c059498 | 535 | |
lilac0112_1 | 2:39135c67083d | 536 | } |
lilac0112_1 | 0:d35efbf4d62e | 537 | |
lilac0112_1 | 0:d35efbf4d62e | 538 | |
lilac0112_1 | 2:39135c67083d | 539 | void PidUpdate() |
lilac0112_1 | 2:39135c67083d | 540 | { |
lilac0112_1 | 0:d35efbf4d62e | 541 | |
lilac0112_1 | 3:2f74791564c9 | 542 | pid.setSetPoint((int)((REFERENCE + SetC) / 1.0)); |
lilac0112_1 | 3:2f74791564c9 | 543 | InputPID = ((Compass/10) + 540 - CompassDef) % 360; |
lilac0112_1 | 3:2f74791564c9 | 544 | |
lilac0112_1 | 3:2f74791564c9 | 545 | pid.setProcessValue(InputPID); |
lilac0112_1 | 3:2f74791564c9 | 546 | CompassPID = (pid.compute()); |
lilac0112_1 | 0:d35efbf4d62e | 547 | } |
lilac0112_1 | 2:39135c67083d | 548 | |
lilac0112_1 | 0:d35efbf4d62e | 549 | uint8_t SwRead(){ |
lilac0112_1 | 0:d35efbf4d62e | 550 | /****** |
lilac0112_1 | 2:39135c67083d | 551 | *retrun : sw_state |
lilac0112_1 | 2:39135c67083d | 552 | *StartS = 0x01; |
lilac0112_1 | 2:39135c67083d | 553 | *Debug2 = 0x02; |
lilac0112_1 | 0:d35efbf4d62e | 554 | *Debug1 = 0x04; |
lilac0112_1 | 2:39135c67083d | 555 | *Debug3 = 0x06; |
lilac0112_1 | 2:39135c67083d | 556 | *Kicker = 0x08; |
lilac0112_1 | 2:39135c67083d | 557 | *Calibration = 0x10; |
lilac0112_1 | 2:39135c67083d | 558 | |
lilac0112_1 | 0:d35efbf4d62e | 559 | * |
lilac0112_1 | 0:d35efbf4d62e | 560 | *****/ |
lilac0112_1 | 0:d35efbf4d62e | 561 | uint8_t i,temp,temp2; |
lilac0112_1 | 2:39135c67083d | 562 | temp = ~Sw - 224; |
lilac0112_1 | 2:39135c67083d | 563 | if(!(temp == Kicker |
lilac0112_1 | 0:d35efbf4d62e | 564 | ||temp == Debug1 |
lilac0112_1 | 0:d35efbf4d62e | 565 | ||temp == Debug2 |
lilac0112_1 | 2:39135c67083d | 566 | ||temp == Debug3 |
lilac0112_1 | 3:2f74791564c9 | 567 | ||temp == Debug12 |
lilac0112_1 | 3:2f74791564c9 | 568 | ||temp == Debug23 |
lilac0112_1 | 2:39135c67083d | 569 | ||temp == StartS)) return 0;/*スイッチが押されていない*/ |
lilac0112_1 | 2:39135c67083d | 570 | if(!(temp == 0x00)){ |
lilac0112_1 | 0:d35efbf4d62e | 571 | for(i = 0; i < 50; i++); |
lilac0112_1 | 2:39135c67083d | 572 | temp2 = ~Sw - 224; |
lilac0112_1 | 0:d35efbf4d62e | 573 | if(temp == temp2){ |
lilac0112_1 | 0:d35efbf4d62e | 574 | return temp; |
lilac0112_1 | 0:d35efbf4d62e | 575 | } |
lilac0112_1 | 0:d35efbf4d62e | 576 | } |
lilac0112_1 | 0:d35efbf4d62e | 577 | return 0; |
lilac0112_1 | 0:d35efbf4d62e | 578 | } |
lilac0112_1 | 0:d35efbf4d62e | 579 | |
lilac0112_1 | 0:d35efbf4d62e | 580 | //通信(モータ用) |
lilac0112_1 | 0:d35efbf4d62e | 581 | void tx_motor(){ |
lilac0112_1 | 2:39135c67083d | 582 | |
lilac0112_1 | 3:2f74791564c9 | 583 | /* |
lilac0112_1 | 3:2f74791564c9 | 584 | speed[0]=0; |
lilac0112_1 | 3:2f74791564c9 | 585 | speed[1]=0; |
lilac0112_1 | 3:2f74791564c9 | 586 | speed[2]=0; |
lilac0112_1 | 3:2f74791564c9 | 587 | speed[3]=0; |
lilac0112_1 | 3:2f74791564c9 | 588 | */ |
lilac0112_1 | 0:d35efbf4d62e | 589 | array(speed[0],speed[1],speed[3],speed[2]); |
lilac0112_1 | 0:d35efbf4d62e | 590 | Motor.printf("%s",StringFIN.c_str()); |
lilac0112_1 | 0:d35efbf4d62e | 591 | } |
lilac0112_1 | 0:d35efbf4d62e | 592 | |
lilac0112_1 | 2:39135c67083d | 593 | void SetUp(){ |
lilac0112_1 | 0:d35efbf4d62e | 594 | /*初期化*/ |
lilac0112_1 | 3:2f74791564c9 | 595 | |
lilac0112_1 | 3:2f74791564c9 | 596 | |
lilac0112_1 | 0:d35efbf4d62e | 597 | Motor.baud(115200); //ボーレート設定 |
lilac0112_1 | 0:d35efbf4d62e | 598 | Motor.printf("1F0002F0003F0004F000\r\n"); //モータ停止 |
lilac0112_1 | 0:d35efbf4d62e | 599 | Motor.attach(&tx_motor,Serial::TxIrq); //送信空き割り込み(モータ用) |
lilac0112_1 | 2:39135c67083d | 600 | |
lilac0112_1 | 3:2f74791564c9 | 601 | Mbed.attach(&micon_rx,Serial::RxIrq); //送信空き割り込み(センサ用) |
lilac0112_1 | 3:2f74791564c9 | 602 | |
lilac0112_1 | 3:2f74791564c9 | 603 | S555.calibrate(0.0006, 120.0); |
lilac0112_1 | 3:2f74791564c9 | 604 | //S555.position(0.0); //初期位置にセット |
lilac0112_1 | 2:39135c67083d | 605 | move(0,0,0,0);//停止 |
lilac0112_1 | 0:d35efbf4d62e | 606 | |
lilac0112_1 | 2:39135c67083d | 607 | Kick = 0; |
lilac0112_1 | 2:39135c67083d | 608 | Sw.mode(PullUp); |
lilac0112_1 | 0:d35efbf4d62e | 609 | |
lilac0112_1 | 2:39135c67083d | 610 | pid.setInputLimits(MINIMUM,MAXIMUM); //pid sed def |
lilac0112_1 | 2:39135c67083d | 611 | pid.setOutputLimits(-OUT_LIMIT, OUT_LIMIT); //pid sed def |
lilac0112_1 | 2:39135c67083d | 612 | pid.setBias(PID_BIAS); //pid sed def |
lilac0112_1 | 2:39135c67083d | 613 | pid.setMode(AUTO_MODE); //pid sed def |
lilac0112_1 | 3:2f74791564c9 | 614 | pid.setSetPoint(REFERENCE); //pid sed def |
lilac0112_1 | 0:d35efbf4d62e | 615 | |
lilac0112_1 | 6:2c9cb40ada59 | 616 | for(int i=0; i<5; i++){ |
lilac0112_1 | 3:2f74791564c9 | 617 | CompassDef = (Compass / 10); |
lilac0112_1 | 3:2f74791564c9 | 618 | wait_ms(10); |
lilac0112_1 | 2:39135c67083d | 619 | } |
lilac0112_1 | 4:7c488c059498 | 620 | //pidupdate.attach(&PidUpdate, PID_CYCLE); |
lilac0112_1 | 3:2f74791564c9 | 621 | |
lilac0112_1 | 0:d35efbf4d62e | 622 | |
lilac0112_1 | 0:d35efbf4d62e | 623 | } |
lilac0112_1 | 0:d35efbf4d62e | 624 | void StartLoop(){ |
lilac0112_1 | 2:39135c67083d | 625 | |
lilac0112_1 | 0:d35efbf4d62e | 626 | uint8_t State = 0; |
lilac0112_1 | 2:39135c67083d | 627 | uint8_t LineData = 0; |
lilac0112_1 | 0:d35efbf4d62e | 628 | while(1){ |
lilac0112_1 | 2:39135c67083d | 629 | Led[0] = Led[1] = Led[2] = Led[3] = 1; |
lilac0112_1 | 2:39135c67083d | 630 | //Lcd.cls(); |
lilac0112_1 | 3:2f74791564c9 | 631 | |
lilac0112_1 | 0:d35efbf4d62e | 632 | State = SwRead(); |
lilac0112_1 | 0:d35efbf4d62e | 633 | if(State == 0) continue; |
lilac0112_1 | 0:d35efbf4d62e | 634 | |
lilac0112_1 | 2:39135c67083d | 635 | if(State == StartS){ |
lilac0112_1 | 2:39135c67083d | 636 | /*loop end & start*/ |
lilac0112_1 | 3:2f74791564c9 | 637 | return; |
lilac0112_1 | 0:d35efbf4d62e | 638 | } |
lilac0112_1 | 2:39135c67083d | 639 | |
lilac0112_1 | 2:39135c67083d | 640 | if(State == Debug1){ |
lilac0112_1 | 2:39135c67083d | 641 | while((State == Debug1)){ |
lilac0112_1 | 2:39135c67083d | 642 | LineData = (~Line+0x00) & 0x0F; |
lilac0112_1 | 2:39135c67083d | 643 | Lcd.printf("%d\n",LineData); |
lilac0112_1 | 2:39135c67083d | 644 | |
lilac0112_1 | 2:39135c67083d | 645 | wait_ms(100); |
lilac0112_1 | 2:39135c67083d | 646 | State = SwRead(); |
lilac0112_1 | 2:39135c67083d | 647 | } |
lilac0112_1 | 2:39135c67083d | 648 | Lcd.cls(); |
lilac0112_1 | 0:d35efbf4d62e | 649 | continue; |
lilac0112_1 | 0:d35efbf4d62e | 650 | |
lilac0112_1 | 0:d35efbf4d62e | 651 | } |
lilac0112_1 | 0:d35efbf4d62e | 652 | if(State == Debug2){ |
lilac0112_1 | 2:39135c67083d | 653 | while((State == Debug2)){ |
lilac0112_1 | 3:2f74791564c9 | 654 | //Receive(); |
lilac0112_1 | 2:39135c67083d | 655 | Lcd.printf("%d\n",IrNum); |
lilac0112_1 | 3:2f74791564c9 | 656 | //pc.printf("%d\t %d\t %d\t %d\t %d\t %d\t\n",IrData[0],IrData[1],IrData[2],PingData[0],PingData[1],PingData[2]); |
lilac0112_1 | 2:39135c67083d | 657 | wait_ms(100); |
lilac0112_1 | 2:39135c67083d | 658 | State = SwRead(); |
lilac0112_1 | 2:39135c67083d | 659 | } |
lilac0112_1 | 2:39135c67083d | 660 | Lcd.cls(); |
lilac0112_1 | 2:39135c67083d | 661 | continue; |
lilac0112_1 | 0:d35efbf4d62e | 662 | } |
lilac0112_1 | 2:39135c67083d | 663 | |
lilac0112_1 | 2:39135c67083d | 664 | if(State == Debug3){ |
lilac0112_1 | 2:39135c67083d | 665 | while((State == Debug3)){ |
lilac0112_1 | 2:39135c67083d | 666 | Lcd.printf("%d\n",((Compass / 10) + 540 - CompassDef) % 360); |
lilac0112_1 | 3:2f74791564c9 | 667 | wait_ms(100); |
lilac0112_1 | 3:2f74791564c9 | 668 | State = SwRead(); |
lilac0112_1 | 3:2f74791564c9 | 669 | } |
lilac0112_1 | 3:2f74791564c9 | 670 | Lcd.cls(); |
lilac0112_1 | 3:2f74791564c9 | 671 | continue; |
lilac0112_1 | 3:2f74791564c9 | 672 | } |
lilac0112_1 | 3:2f74791564c9 | 673 | if(State == Debug12){ |
lilac0112_1 | 3:2f74791564c9 | 674 | while((State == Debug12)){ |
lilac0112_1 | 3:2f74791564c9 | 675 | Lcd.printf("%d\n", PingData[0]);//Left |
lilac0112_1 | 3:2f74791564c9 | 676 | Lcd.printf("%d\n", PingData[1]);//Right |
lilac0112_1 | 3:2f74791564c9 | 677 | wait_ms(100); |
lilac0112_1 | 3:2f74791564c9 | 678 | State = SwRead(); |
lilac0112_1 | 3:2f74791564c9 | 679 | } |
lilac0112_1 | 3:2f74791564c9 | 680 | Lcd.cls(); |
lilac0112_1 | 3:2f74791564c9 | 681 | continue; |
lilac0112_1 | 3:2f74791564c9 | 682 | } |
lilac0112_1 | 3:2f74791564c9 | 683 | if(State == Debug23){ |
lilac0112_1 | 3:2f74791564c9 | 684 | while((State == Debug23)){ |
lilac0112_1 | 3:2f74791564c9 | 685 | Lcd.printf("%d\n", PingData[2]);//Back |
lilac0112_1 | 3:2f74791564c9 | 686 | Lcd.printf("%d\n", PingData[3]);//Front |
lilac0112_1 | 2:39135c67083d | 687 | wait_ms(100); |
lilac0112_1 | 2:39135c67083d | 688 | State = SwRead(); |
lilac0112_1 | 2:39135c67083d | 689 | } |
lilac0112_1 | 2:39135c67083d | 690 | Lcd.cls(); |
lilac0112_1 | 2:39135c67083d | 691 | continue; |
lilac0112_1 | 0:d35efbf4d62e | 692 | } |
lilac0112_1 | 0:d35efbf4d62e | 693 | |
lilac0112_1 | 2:39135c67083d | 694 | if(State == Kicker){ |
lilac0112_1 | 3:2f74791564c9 | 695 | while((State == Kicker)){ |
lilac0112_1 | 3:2f74791564c9 | 696 | Lcd.printf("%f\n",CompassPID); |
lilac0112_1 | 3:2f74791564c9 | 697 | wait_ms(100); |
lilac0112_1 | 3:2f74791564c9 | 698 | State = SwRead(); |
lilac0112_1 | 3:2f74791564c9 | 699 | } |
lilac0112_1 | 3:2f74791564c9 | 700 | Lcd.cls(); |
lilac0112_1 | 3:2f74791564c9 | 701 | continue; |
lilac0112_1 | 3:2f74791564c9 | 702 | |
lilac0112_1 | 3:2f74791564c9 | 703 | /*Led[0] = Led[1] = Led[2] = 0; |
lilac0112_1 | 3:2f74791564c9 | 704 | Kick = 1; |
lilac0112_1 | 3:2f74791564c9 | 705 | wait_ms(500); |
lilac0112_1 | 3:2f74791564c9 | 706 | Kick = 0; |
lilac0112_1 | 2:39135c67083d | 707 | while((State == Kicker)){ |
lilac0112_1 | 2:39135c67083d | 708 | wait_ms(100); |
lilac0112_1 | 2:39135c67083d | 709 | State = SwRead(); |
lilac0112_1 | 2:39135c67083d | 710 | } |
lilac0112_1 | 3:2f74791564c9 | 711 | continue;*/ |
lilac0112_1 | 2:39135c67083d | 712 | } |
lilac0112_1 | 3:2f74791564c9 | 713 | } |
lilac0112_1 | 0:d35efbf4d62e | 714 | |
lilac0112_1 | 0:d35efbf4d62e | 715 | } |
lilac0112_1 | 4:7c488c059498 | 716 | |
lilac0112_1 | 4:7c488c059498 | 717 | uint8_t LinkBit(bool eight, bool seven, bool six, bool five, bool fore, bool three, bool two, bool one){ |
lilac0112_1 | 4:7c488c059498 | 718 | return 0x80*eight + 0x40*seven + 0x20*six + 0x10*five + 0x08*fore + 0x04*three + 0x02*two + 0x01*one; |
lilac0112_1 | 4:7c488c059498 | 719 | } |
lilac0112_1 | 4:7c488c059498 | 720 | |
lilac0112_1 | 0:d35efbf4d62e | 721 | int main() { |
lilac0112_1 | 0:d35efbf4d62e | 722 | |
lilac0112_1 | 3:2f74791564c9 | 723 | //uint8_t IrNumOld = 0;//過去値 |
lilac0112_1 | 0:d35efbf4d62e | 724 | /*Line*/ |
lilac0112_1 | 2:39135c67083d | 725 | uint8_t LineData = 0; |
lilac0112_1 | 4:7c488c059498 | 726 | //uint8_t LinePing = 0; |
lilac0112_1 | 3:2f74791564c9 | 727 | |
lilac0112_1 | 2:39135c67083d | 728 | |
lilac0112_1 | 0:d35efbf4d62e | 729 | /*State */ |
lilac0112_1 | 4:7c488c059498 | 730 | /*uint8_t LineIr = 0; |
lilac0112_1 | 3:2f74791564c9 | 731 | uint8_t IrChange[13] ={0x01,0x01,0x03,0x02,0x02,0x06, |
lilac0112_1 | 3:2f74791564c9 | 732 | |
lilac0112_1 | 3:2f74791564c9 | 733 | 0x04,0x04,0x0B,0x08,0x08,0x09,0x00}; |
lilac0112_1 | 4:7c488c059498 | 734 | */ |
lilac0112_1 | 2:39135c67083d | 735 | /*行動設定*/ |
lilac0112_1 | 4:7c488c059498 | 736 | //int Power = 0; |
lilac0112_1 | 4:7c488c059498 | 737 | //int Degree = 0; |
lilac0112_1 | 2:39135c67083d | 738 | |
lilac0112_1 | 2:39135c67083d | 739 | /*楽しい変数達*/ |
lilac0112_1 | 4:7c488c059498 | 740 | //int nDegree =0;//基礎角 |
lilac0112_1 | 4:7c488c059498 | 741 | //int addDegree = 0;//追加角 |
lilac0112_1 | 0:d35efbf4d62e | 742 | |
lilac0112_1 | 4:7c488c059498 | 743 | /**/ |
lilac0112_1 | 5:c8e4d5cdc353 | 744 | int Gap=2; |
lilac0112_1 | 4:7c488c059498 | 745 | bool LineState[10]={0}; |
lilac0112_1 | 0:d35efbf4d62e | 746 | |
lilac0112_1 | 0:d35efbf4d62e | 747 | |
lilac0112_1 | 0:d35efbf4d62e | 748 | /*関数ポインタ*/ |
lilac0112_1 | 3:2f74791564c9 | 749 | |
lilac0112_1 | 3:2f74791564c9 | 750 | |
lilac0112_1 | 3:2f74791564c9 | 751 | //void (*AnotherAction[3])(uint8_t [],double); |
lilac0112_1 | 4:7c488c059498 | 752 | /*void (*AnotherAction[3])(); |
lilac0112_1 | 2:39135c67083d | 753 | AnotherAction[0] = IrFrontAction; |
lilac0112_1 | 2:39135c67083d | 754 | AnotherAction[1] = IrBackAction; |
lilac0112_1 | 4:7c488c059498 | 755 | AnotherAction[2] = GoHome;*/ |
lilac0112_1 | 2:39135c67083d | 756 | |
lilac0112_1 | 3:2f74791564c9 | 757 | |
lilac0112_1 | 2:39135c67083d | 758 | SetUp();/*set up routine*/ |
lilac0112_1 | 3:2f74791564c9 | 759 | |
lilac0112_1 | 2:39135c67083d | 760 | StartLoop(); /*loop strat, switch push end*/ |
lilac0112_1 | 3:2f74791564c9 | 761 | Led[0] = Led[1] = Led[2] = Led[3] = 0; |
lilac0112_1 | 3:2f74791564c9 | 762 | wait_ms(100); |
lilac0112_1 | 2:39135c67083d | 763 | |
lilac0112_1 | 3:2f74791564c9 | 764 | Loop = 0; |
lilac0112_1 | 2:39135c67083d | 765 | |
lilac0112_1 | 3:2f74791564c9 | 766 | while(1){ |
lilac0112_1 | 3:2f74791564c9 | 767 | |
lilac0112_1 | 6:2c9cb40ada59 | 768 | if(IrNum!=12){ |
lilac0112_1 | 6:2c9cb40ada59 | 769 | HomeFlag=0; |
lilac0112_1 | 6:2c9cb40ada59 | 770 | } |
lilac0112_1 | 6:2c9cb40ada59 | 771 | //if(HomeFlag) |
lilac0112_1 | 6:2c9cb40ada59 | 772 | |
lilac0112_1 | 5:c8e4d5cdc353 | 773 | /*if( |
lilac0112_1 | 4:7c488c059498 | 774 | ( |
lilac0112_1 | 4:7c488c059498 | 775 | ( |
lilac0112_1 | 4:7c488c059498 | 776 | ( |
lilac0112_1 | 4:7c488c059498 | 777 | (Compass / 10) + 540 - CompassDef |
lilac0112_1 | 4:7c488c059498 | 778 | ) % 360 |
lilac0112_1 | 4:7c488c059498 | 779 | ) - REFERENCE |
lilac0112_1 | 5:c8e4d5cdc353 | 780 | ) >=15 |
lilac0112_1 | 4:7c488c059498 | 781 | ){ |
lilac0112_1 | 3:2f74791564c9 | 782 | |
lilac0112_1 | 4:7c488c059498 | 783 | move(0,0,0,0); |
lilac0112_1 | 2:39135c67083d | 784 | continue; |
lilac0112_1 | 5:c8e4d5cdc353 | 785 | }*/ |
lilac0112_1 | 3:2f74791564c9 | 786 | |
lilac0112_1 | 6:2c9cb40ada59 | 787 | |
lilac0112_1 | 6:2c9cb40ada59 | 788 | |
lilac0112_1 | 4:7c488c059498 | 789 | LineData = (~Line+0x00) & 0x0F; |
lilac0112_1 | 4:7c488c059498 | 790 | |
lilac0112_1 | 4:7c488c059498 | 791 | for(int i=0; i<10; i++) LineState[i]=0; |
lilac0112_1 | 3:2f74791564c9 | 792 | |
lilac0112_1 | 4:7c488c059498 | 793 | if(LineData!=0){ |
lilac0112_1 | 4:7c488c059498 | 794 | |
lilac0112_1 | 4:7c488c059498 | 795 | if(PingData[0]>PingData[1]) LineState[0]=1; |
lilac0112_1 | 5:c8e4d5cdc353 | 796 | if(PingData[2]<=30) LineState[1]=1; |
lilac0112_1 | 4:7c488c059498 | 797 | |
lilac0112_1 | 4:7c488c059498 | 798 | switch(LinkBit(0,0,0,0,0,0,LineState[1],LineState[0])&0x03){ |
lilac0112_1 | 4:7c488c059498 | 799 | |
lilac0112_1 | 4:7c488c059498 | 800 | case 0: |
lilac0112_1 | 4:7c488c059498 | 801 | moving(3); |
lilac0112_1 | 4:7c488c059498 | 802 | break; |
lilac0112_1 | 4:7c488c059498 | 803 | case 1: |
lilac0112_1 | 4:7c488c059498 | 804 | moving(9); |
lilac0112_1 | 4:7c488c059498 | 805 | break; |
lilac0112_1 | 4:7c488c059498 | 806 | case 2: |
lilac0112_1 | 4:7c488c059498 | 807 | moving(1); |
lilac0112_1 | 4:7c488c059498 | 808 | break; |
lilac0112_1 | 4:7c488c059498 | 809 | case 3: |
lilac0112_1 | 4:7c488c059498 | 810 | moving(11); |
lilac0112_1 | 4:7c488c059498 | 811 | break; |
lilac0112_1 | 4:7c488c059498 | 812 | default : |
lilac0112_1 | 4:7c488c059498 | 813 | break; |
lilac0112_1 | 4:7c488c059498 | 814 | |
lilac0112_1 | 4:7c488c059498 | 815 | } |
lilac0112_1 | 4:7c488c059498 | 816 | /*if(LastPwm[0]==0){ |
lilac0112_1 | 4:7c488c059498 | 817 | |
lilac0112_1 | 4:7c488c059498 | 818 | } |
lilac0112_1 | 4:7c488c059498 | 819 | move(LastPwm[0]*(-1),LastPwm[3]*(-1)*(-1),0,LastDeg);*/ |
lilac0112_1 | 6:2c9cb40ada59 | 820 | //wait(0.5); |
lilac0112_1 | 4:7c488c059498 | 821 | continue; |
lilac0112_1 | 4:7c488c059498 | 822 | |
lilac0112_1 | 6:2c9cb40ada59 | 823 | } |
lilac0112_1 | 6:2c9cb40ada59 | 824 | if( |
lilac0112_1 | 6:2c9cb40ada59 | 825 | (!( |
lilac0112_1 | 6:2c9cb40ada59 | 826 | (abs( int( int(PingData[0]) - int(PingData[1]) ) ) ) |
lilac0112_1 | 6:2c9cb40ada59 | 827 | <= 30 |
lilac0112_1 | 6:2c9cb40ada59 | 828 | )) |
lilac0112_1 | 6:2c9cb40ada59 | 829 | ){ |
lilac0112_1 | 4:7c488c059498 | 830 | |
lilac0112_1 | 6:2c9cb40ada59 | 831 | if(PingData[0]>PingData[1]){ |
lilac0112_1 | 6:2c9cb40ada59 | 832 | moving(9); |
lilac0112_1 | 6:2c9cb40ada59 | 833 | //wait(0.5); |
lilac0112_1 | 6:2c9cb40ada59 | 834 | continue; |
lilac0112_1 | 6:2c9cb40ada59 | 835 | } |
lilac0112_1 | 6:2c9cb40ada59 | 836 | else{ |
lilac0112_1 | 6:2c9cb40ada59 | 837 | moving(3); |
lilac0112_1 | 6:2c9cb40ada59 | 838 | //wait(0.5); |
lilac0112_1 | 6:2c9cb40ada59 | 839 | continue; |
lilac0112_1 | 4:7c488c059498 | 840 | } |
lilac0112_1 | 4:7c488c059498 | 841 | |
lilac0112_1 | 6:2c9cb40ada59 | 842 | } |
lilac0112_1 | 6:2c9cb40ada59 | 843 | if( |
lilac0112_1 | 6:2c9cb40ada59 | 844 | (( |
lilac0112_1 | 6:2c9cb40ada59 | 845 | (abs( int( int(PingData[0]) - int(PingData[1]) ) ) ) |
lilac0112_1 | 6:2c9cb40ada59 | 846 | <= 30 |
lilac0112_1 | 6:2c9cb40ada59 | 847 | )) && |
lilac0112_1 | 6:2c9cb40ada59 | 848 | ( |
lilac0112_1 | 6:2c9cb40ada59 | 849 | PingData[2]>15 |
lilac0112_1 | 6:2c9cb40ada59 | 850 | |
lilac0112_1 | 6:2c9cb40ada59 | 851 | ) |
lilac0112_1 | 6:2c9cb40ada59 | 852 | ){ |
lilac0112_1 | 6:2c9cb40ada59 | 853 | |
lilac0112_1 | 6:2c9cb40ada59 | 854 | moving(6); |
lilac0112_1 | 6:2c9cb40ada59 | 855 | //wait(0.5); |
lilac0112_1 | 4:7c488c059498 | 856 | continue; |
lilac0112_1 | 6:2c9cb40ada59 | 857 | |
lilac0112_1 | 4:7c488c059498 | 858 | } |
lilac0112_1 | 3:2f74791564c9 | 859 | |
lilac0112_1 | 0:d35efbf4d62e | 860 | |
lilac0112_1 | 4:7c488c059498 | 861 | |
lilac0112_1 | 6:2c9cb40ada59 | 862 | switch(IrNum){ |
lilac0112_1 | 4:7c488c059498 | 863 | |
lilac0112_1 | 5:c8e4d5cdc353 | 864 | case 1: |
lilac0112_1 | 5:c8e4d5cdc353 | 865 | case 2: |
lilac0112_1 | 5:c8e4d5cdc353 | 866 | case 3: |
lilac0112_1 | 5:c8e4d5cdc353 | 867 | case 4: |
lilac0112_1 | 5:c8e4d5cdc353 | 868 | case 5: |
lilac0112_1 | 6:2c9cb40ada59 | 869 | moving(3); |
lilac0112_1 | 5:c8e4d5cdc353 | 870 | break; |
lilac0112_1 | 5:c8e4d5cdc353 | 871 | |
lilac0112_1 | 5:c8e4d5cdc353 | 872 | case 7: |
lilac0112_1 | 5:c8e4d5cdc353 | 873 | case 8: |
lilac0112_1 | 5:c8e4d5cdc353 | 874 | case 9: |
lilac0112_1 | 5:c8e4d5cdc353 | 875 | case 10: |
lilac0112_1 | 5:c8e4d5cdc353 | 876 | case 11: |
lilac0112_1 | 6:2c9cb40ada59 | 877 | moving(9); |
lilac0112_1 | 5:c8e4d5cdc353 | 878 | break; |
lilac0112_1 | 6:2c9cb40ada59 | 879 | |
lilac0112_1 | 6:2c9cb40ada59 | 880 | |
lilac0112_1 | 6:2c9cb40ada59 | 881 | case 6: |
lilac0112_1 | 6:2c9cb40ada59 | 882 | if(PingData[0]>PingData[1]) moving(7); |
lilac0112_1 | 6:2c9cb40ada59 | 883 | else moving(5); |
lilac0112_1 | 6:2c9cb40ada59 | 884 | break; |
lilac0112_1 | 6:2c9cb40ada59 | 885 | |
lilac0112_1 | 6:2c9cb40ada59 | 886 | case 0: |
lilac0112_1 | 5:c8e4d5cdc353 | 887 | case 12: |
lilac0112_1 | 5:c8e4d5cdc353 | 888 | GoHome(); |
lilac0112_1 | 5:c8e4d5cdc353 | 889 | break; |
lilac0112_1 | 5:c8e4d5cdc353 | 890 | default: |
lilac0112_1 | 5:c8e4d5cdc353 | 891 | break; |
lilac0112_1 | 4:7c488c059498 | 892 | } |
lilac0112_1 | 2:39135c67083d | 893 | |
lilac0112_1 | 5:c8e4d5cdc353 | 894 | |
lilac0112_1 | 6:2c9cb40ada59 | 895 | |
lilac0112_1 | 6:2c9cb40ada59 | 896 | |
lilac0112_1 | 6:2c9cb40ada59 | 897 | |
lilac0112_1 | 6:2c9cb40ada59 | 898 | |
lilac0112_1 | 6:2c9cb40ada59 | 899 | |
lilac0112_1 | 6:2c9cb40ada59 | 900 | |
lilac0112_1 | 0:d35efbf4d62e | 901 | } |
lilac0112_1 | 6:2c9cb40ada59 | 902 | } |