![](/media/cache/group/default_image.jpg.50x50_q85.jpg)
CatPot for defence on RoboCup in 2015 winter
Dependencies: AQM0802A HMC6352 MultiSerial PID Servo mbed
main.cpp@5:c8e4d5cdc353, 2015-03-13 (annotated)
- Committer:
- lilac0112_1
- Date:
- Fri Mar 13 03:17:44 2015 +0000
- Revision:
- 5:c8e4d5cdc353
- Parent:
- 4:7c488c059498
- Child:
- 6:2c9cb40ada59
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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 | 3:2f74791564c9 | 73 | void move(int vr,int vl, double vs ,int Degree){ |
lilac0112_1 | 0:d35efbf4d62e | 74 | double pwm[4] = {0}; |
lilac0112_1 | 0:d35efbf4d62e | 75 | uint8_t i = 0; |
lilac0112_1 | 4:7c488c059498 | 76 | double CompassVias=15.0; |
lilac0112_1 | 4:7c488c059498 | 77 | double CompassDif; |
lilac0112_1 | 4:7c488c059498 | 78 | |
lilac0112_1 | 4:7c488c059498 | 79 | vr=vr*( 1.0); |
lilac0112_1 | 4:7c488c059498 | 80 | vl=vl*(-1.0); |
lilac0112_1 | 4:7c488c059498 | 81 | Degree = Degree*(-1.0); |
lilac0112_1 | 3:2f74791564c9 | 82 | |
lilac0112_1 | 4:7c488c059498 | 83 | CompassDif=(((Compass / 10) + 540 - CompassDef) % 360) - REFERENCE; |
lilac0112_1 | 5:c8e4d5cdc353 | 84 | if(/*abs(CompassDif)<CompassVias*/1){ |
lilac0112_1 | 4:7c488c059498 | 85 | |
lilac0112_1 | 4:7c488c059498 | 86 | |
lilac0112_1 | 4:7c488c059498 | 87 | CompassVias=15.0; |
lilac0112_1 | 4:7c488c059498 | 88 | |
lilac0112_1 | 4:7c488c059498 | 89 | pwm[0] = LastPwm[0] = vr; |
lilac0112_1 | 4:7c488c059498 | 90 | pwm[1] = LastPwm[1] =0; |
lilac0112_1 | 4:7c488c059498 | 91 | pwm[2] = LastPwm[2] =0; |
lilac0112_1 | 4:7c488c059498 | 92 | pwm[3] = LastPwm[3] =vl*(1.0); |
lilac0112_1 | 4:7c488c059498 | 93 | |
lilac0112_1 | 4:7c488c059498 | 94 | LastDeg = Degree; |
lilac0112_1 | 4:7c488c059498 | 95 | |
lilac0112_1 | 4:7c488c059498 | 96 | |
lilac0112_1 | 3:2f74791564c9 | 97 | } |
lilac0112_1 | 3:2f74791564c9 | 98 | else{ |
lilac0112_1 | 3:2f74791564c9 | 99 | |
lilac0112_1 | 4:7c488c059498 | 100 | CompassVias=10.0; |
lilac0112_1 | 4:7c488c059498 | 101 | |
lilac0112_1 | 4:7c488c059498 | 102 | if(CompassDif<0){ |
lilac0112_1 | 4:7c488c059498 | 103 | //vs = vs - (20-CompassVias); |
lilac0112_1 | 4:7c488c059498 | 104 | vs = -(15+(abs(CompassDif))*0.1); |
lilac0112_1 | 4:7c488c059498 | 105 | if( abs(CompassDif) >= 100) vs = -(20+(100)*0.1); |
lilac0112_1 | 3:2f74791564c9 | 106 | } |
lilac0112_1 | 3:2f74791564c9 | 107 | else{ |
lilac0112_1 | 4:7c488c059498 | 108 | //vs = vs + (20-CompassVias); |
lilac0112_1 | 4:7c488c059498 | 109 | vs = (15+(abs(CompassDif))*0.1); |
lilac0112_1 | 4:7c488c059498 | 110 | if( abs(CompassDif) >= 100) vs = (20+(100)*0.1); |
lilac0112_1 | 3:2f74791564c9 | 111 | } |
lilac0112_1 | 3:2f74791564c9 | 112 | |
lilac0112_1 | 3:2f74791564c9 | 113 | pwm[0] = vs; |
lilac0112_1 | 3:2f74791564c9 | 114 | pwm[1] = 0; |
lilac0112_1 | 3:2f74791564c9 | 115 | pwm[2] = 0; |
lilac0112_1 | 3:2f74791564c9 | 116 | pwm[3] = vs*(-1)*(-1); |
lilac0112_1 | 4:7c488c059498 | 117 | |
lilac0112_1 | 4:7c488c059498 | 118 | Degree = 0.0; |
lilac0112_1 | 3:2f74791564c9 | 119 | } |
lilac0112_1 | 3:2f74791564c9 | 120 | if(Loop==1){ |
lilac0112_1 | 3:2f74791564c9 | 121 | pwm[0] = 0; |
lilac0112_1 | 3:2f74791564c9 | 122 | pwm[1] = 0; |
lilac0112_1 | 3:2f74791564c9 | 123 | pwm[2] = 0; |
lilac0112_1 | 3:2f74791564c9 | 124 | pwm[3] = 0; |
lilac0112_1 | 3:2f74791564c9 | 125 | } |
lilac0112_1 | 4:7c488c059498 | 126 | |
lilac0112_1 | 4:7c488c059498 | 127 | |
lilac0112_1 | 0:d35efbf4d62e | 128 | for(i = 0; i < 4; i++){ |
lilac0112_1 | 0:d35efbf4d62e | 129 | if(pwm[i] > 100){ |
lilac0112_1 | 0:d35efbf4d62e | 130 | pwm[i] = 100; |
lilac0112_1 | 0:d35efbf4d62e | 131 | }else if(pwm[i] < -100){ |
lilac0112_1 | 0:d35efbf4d62e | 132 | pwm[i] = -100; |
lilac0112_1 | 0:d35efbf4d62e | 133 | } |
lilac0112_1 | 0:d35efbf4d62e | 134 | speed[i] = pwm[i]; |
lilac0112_1 | 0:d35efbf4d62e | 135 | } |
lilac0112_1 | 3:2f74791564c9 | 136 | if(Degree > 110){ |
lilac0112_1 | 3:2f74791564c9 | 137 | Degree = 110; |
lilac0112_1 | 3:2f74791564c9 | 138 | }else if(Degree < -110){ |
lilac0112_1 | 3:2f74791564c9 | 139 | Degree = -110; |
lilac0112_1 | 3:2f74791564c9 | 140 | } |
lilac0112_1 | 4:7c488c059498 | 141 | |
lilac0112_1 | 4:7c488c059498 | 142 | if(WaitFlag==1) Degree = LastDegree; |
lilac0112_1 | 4:7c488c059498 | 143 | |
lilac0112_1 | 4:7c488c059498 | 144 | |
lilac0112_1 | 4:7c488c059498 | 145 | SetDegree = LastDegree = Degree; |
lilac0112_1 | 3:2f74791564c9 | 146 | S555.position(SetDegree*11.0/9.0); |
lilac0112_1 | 4:7c488c059498 | 147 | |
lilac0112_1 | 4:7c488c059498 | 148 | if(WaitFlag==0){ |
lilac0112_1 | 4:7c488c059498 | 149 | WaitFlag = 1; |
lilac0112_1 | 4:7c488c059498 | 150 | STimer.attach(Interval, WAIT_TIME); |
lilac0112_1 | 4:7c488c059498 | 151 | } |
lilac0112_1 | 4:7c488c059498 | 152 | |
lilac0112_1 | 4:7c488c059498 | 153 | } |
lilac0112_1 | 4:7c488c059498 | 154 | |
lilac0112_1 | 4:7c488c059498 | 155 | void moving(int IrNumber){ |
lilac0112_1 | 4:7c488c059498 | 156 | move(vrl[IrNumber],vrl[IrNumber],0,IrServo[IrNumber]); |
lilac0112_1 | 2:39135c67083d | 157 | } |
lilac0112_1 | 3:2f74791564c9 | 158 | |
lilac0112_1 | 3:2f74791564c9 | 159 | uint8_t PingChange(uint8_t LineData){ |
lilac0112_1 | 3:2f74791564c9 | 160 | static uint8_t Last_Line; |
lilac0112_1 | 3:2f74791564c9 | 161 | static uint8_t Last_Ping; |
lilac0112_1 | 3:2f74791564c9 | 162 | uint8_t LinePing = 0; |
lilac0112_1 | 3:2f74791564c9 | 163 | |
lilac0112_1 | 3:2f74791564c9 | 164 | if(!LineData){ |
lilac0112_1 | 3:2f74791564c9 | 165 | return 0; |
lilac0112_1 | 3:2f74791564c9 | 166 | } |
lilac0112_1 | 3:2f74791564c9 | 167 | |
lilac0112_1 | 4:7c488c059498 | 168 | if(PingData[0] <20) LinePing = LinePing + 8; |
lilac0112_1 | 4:7c488c059498 | 169 | if(PingData[1] <20) LinePing = LinePing + 2; |
lilac0112_1 | 4:7c488c059498 | 170 | if(PingData[2] <20) LinePing = LinePing + 4; |
lilac0112_1 | 4:7c488c059498 | 171 | if(PingData[3] <20) LinePing = LinePing + 1; |
lilac0112_1 | 3:2f74791564c9 | 172 | |
lilac0112_1 | 3:2f74791564c9 | 173 | |
lilac0112_1 | 3:2f74791564c9 | 174 | if(LinePing&0x01){ |
lilac0112_1 | 3:2f74791564c9 | 175 | if((LineData&0x01) ||(Last_Line&0x01)||(Last_Ping&0x01)){ |
lilac0112_1 | 3:2f74791564c9 | 176 | Last_Ping = LinePing; |
lilac0112_1 | 3:2f74791564c9 | 177 | Last_Line = LineData; |
lilac0112_1 | 3:2f74791564c9 | 178 | return 1; |
lilac0112_1 | 3:2f74791564c9 | 179 | } |
lilac0112_1 | 3:2f74791564c9 | 180 | } |
lilac0112_1 | 3:2f74791564c9 | 181 | if(LinePing&0x02){ |
lilac0112_1 | 3:2f74791564c9 | 182 | if((LineData&0x02) ||(Last_Line&0x02)||(Last_Ping&0x02)){ |
lilac0112_1 | 3:2f74791564c9 | 183 | Last_Ping = LinePing; |
lilac0112_1 | 3:2f74791564c9 | 184 | Last_Line = LineData; |
lilac0112_1 | 3:2f74791564c9 | 185 | return 2; |
lilac0112_1 | 3:2f74791564c9 | 186 | } |
lilac0112_1 | 3:2f74791564c9 | 187 | } |
lilac0112_1 | 3:2f74791564c9 | 188 | if(LinePing&0x04){ |
lilac0112_1 | 3:2f74791564c9 | 189 | if((LineData&0x04) ||(Last_Line&0x04)||(Last_Ping&0x04)){ |
lilac0112_1 | 3:2f74791564c9 | 190 | Last_Ping = LinePing; |
lilac0112_1 | 3:2f74791564c9 | 191 | Last_Line = LineData; |
lilac0112_1 | 3:2f74791564c9 | 192 | return 4; |
lilac0112_1 | 3:2f74791564c9 | 193 | } |
lilac0112_1 | 3:2f74791564c9 | 194 | } |
lilac0112_1 | 3:2f74791564c9 | 195 | if(LinePing&0x08){ |
lilac0112_1 | 3:2f74791564c9 | 196 | if((LineData&0x08) ||(Last_Line&0x08)||(Last_Ping&0x08)){ |
lilac0112_1 | 3:2f74791564c9 | 197 | Last_Ping = LinePing; |
lilac0112_1 | 3:2f74791564c9 | 198 | Last_Line = LineData; |
lilac0112_1 | 3:2f74791564c9 | 199 | return 8; |
lilac0112_1 | 3:2f74791564c9 | 200 | } |
lilac0112_1 | 3:2f74791564c9 | 201 | } |
lilac0112_1 | 3:2f74791564c9 | 202 | Last_Ping = 0; |
lilac0112_1 | 3:2f74791564c9 | 203 | Last_Line = 0; |
lilac0112_1 | 3:2f74791564c9 | 204 | return 0; |
lilac0112_1 | 3:2f74791564c9 | 205 | |
lilac0112_1 | 3:2f74791564c9 | 206 | } |
lilac0112_1 | 3:2f74791564c9 | 207 | |
lilac0112_1 | 3:2f74791564c9 | 208 | void fool (int *Degree, int *Power){ |
lilac0112_1 | 3:2f74791564c9 | 209 | static int Last_Degree = 0; |
lilac0112_1 | 2:39135c67083d | 210 | static int Last_Vector = 1; |
lilac0112_1 | 3:2f74791564c9 | 211 | int degree = *Degree; |
lilac0112_1 | 2:39135c67083d | 212 | int Temp; |
lilac0112_1 | 3:2f74791564c9 | 213 | |
lilac0112_1 | 3:2f74791564c9 | 214 | |
lilac0112_1 | 3:2f74791564c9 | 215 | if((*Degree <0)||(*Degree >=360)){ |
lilac0112_1 | 3:2f74791564c9 | 216 | *Degree = 0; |
lilac0112_1 | 3:2f74791564c9 | 217 | Last_Degree = 0; |
lilac0112_1 | 3:2f74791564c9 | 218 | Last_Vector = 1; |
lilac0112_1 | 3:2f74791564c9 | 219 | return ; |
lilac0112_1 | 3:2f74791564c9 | 220 | } |
lilac0112_1 | 3:2f74791564c9 | 221 | |
lilac0112_1 | 3:2f74791564c9 | 222 | Temp = Last_Degree % 180; |
lilac0112_1 | 3:2f74791564c9 | 223 | if((Temp==90)){ |
lilac0112_1 | 3:2f74791564c9 | 224 | Temp = *Degree % 180; |
lilac0112_1 | 3:2f74791564c9 | 225 | if((Temp==90)){ |
lilac0112_1 | 3:2f74791564c9 | 226 | Temp = abs(*Degree - Last_Degree); |
lilac0112_1 | 2:39135c67083d | 227 | if(Temp>160){ |
lilac0112_1 | 2:39135c67083d | 228 | Last_Vector = -1 * Last_Vector;//正転逆転切り替え |
lilac0112_1 | 3:2f74791564c9 | 229 | if(*Degree/180){ |
lilac0112_1 | 3:2f74791564c9 | 230 | *Degree = Angle[Last_Degree%180] -(Last_Degree - *Degree%180); |
lilac0112_1 | 2:39135c67083d | 231 | *Power = *Power * Last_Vector; |
lilac0112_1 | 2:39135c67083d | 232 | }else{ |
lilac0112_1 | 3:2f74791564c9 | 233 | *Degree = Angle[Last_Degree%180] -(Last_Degree%180 - *Degree); |
lilac0112_1 | 2:39135c67083d | 234 | *Power = *Power * Last_Vector; |
lilac0112_1 | 2:39135c67083d | 235 | } |
lilac0112_1 | 3:2f74791564c9 | 236 | Last_Degree = degree; |
lilac0112_1 | 3:2f74791564c9 | 237 | if((*Degree <= -120)||(*Degree >=120)){ |
lilac0112_1 | 3:2f74791564c9 | 238 | *Degree = 0; |
lilac0112_1 | 3:2f74791564c9 | 239 | } |
lilac0112_1 | 2:39135c67083d | 240 | return; |
lilac0112_1 | 2:39135c67083d | 241 | }else if((Last_Vector+2) == 1){ |
lilac0112_1 | 2:39135c67083d | 242 | /*逆転のまま角度拡張*/ |
lilac0112_1 | 3:2f74791564c9 | 243 | if(*Degree/180){ |
lilac0112_1 | 3:2f74791564c9 | 244 | *Degree = -360 + *Degree ; |
lilac0112_1 | 3:2f74791564c9 | 245 | |
lilac0112_1 | 2:39135c67083d | 246 | } |
lilac0112_1 | 3:2f74791564c9 | 247 | *Power = *Power * Last_Vector; |
lilac0112_1 | 3:2f74791564c9 | 248 | Last_Degree = degree; |
lilac0112_1 | 3:2f74791564c9 | 249 | if((*Degree <= -120)||(*Degree >=120)){ |
lilac0112_1 | 3:2f74791564c9 | 250 | *Degree = 0; |
lilac0112_1 | 3:2f74791564c9 | 251 | |
lilac0112_1 | 3:2f74791564c9 | 252 | } |
lilac0112_1 | 2:39135c67083d | 253 | return; |
lilac0112_1 | 2:39135c67083d | 254 | |
lilac0112_1 | 2:39135c67083d | 255 | }else if((Last_Vector+2) == 3){ |
lilac0112_1 | 2:39135c67083d | 256 | /*正転のまま*/ |
lilac0112_1 | 3:2f74791564c9 | 257 | if(*Degree/180){ |
lilac0112_1 | 3:2f74791564c9 | 258 | *Degree = -360 + *Degree ; |
lilac0112_1 | 2:39135c67083d | 259 | } |
lilac0112_1 | 3:2f74791564c9 | 260 | *Power = *Power * Last_Vector; |
lilac0112_1 | 3:2f74791564c9 | 261 | Last_Degree = degree; |
lilac0112_1 | 3:2f74791564c9 | 262 | if((*Degree <= -120)||(*Degree >=120)){ |
lilac0112_1 | 3:2f74791564c9 | 263 | *Degree = 0; |
lilac0112_1 | 3:2f74791564c9 | 264 | } |
lilac0112_1 | 2:39135c67083d | 265 | return; |
lilac0112_1 | 2:39135c67083d | 266 | } |
lilac0112_1 | 2:39135c67083d | 267 | } |
lilac0112_1 | 2:39135c67083d | 268 | } |
lilac0112_1 | 2:39135c67083d | 269 | /*通常動作*/ |
lilac0112_1 | 3:2f74791564c9 | 270 | if(*Degree == 0){ |
lilac0112_1 | 3:2f74791564c9 | 271 | Last_Vector = DegreeToVector[0]; |
lilac0112_1 | 3:2f74791564c9 | 272 | *Degree = Angle[*Degree%180]; |
lilac0112_1 | 3:2f74791564c9 | 273 | *Power = *Power * Last_Vector; |
lilac0112_1 | 3:2f74791564c9 | 274 | Last_Degree = degree; |
lilac0112_1 | 3:2f74791564c9 | 275 | return ; |
lilac0112_1 | 3:2f74791564c9 | 276 | } |
lilac0112_1 | 4:7c488c059498 | 277 | if(*Degree == 270){ |
lilac0112_1 | 4:7c488c059498 | 278 | Last_Vector = DegreeToVector[0]; |
lilac0112_1 | 4:7c488c059498 | 279 | *Degree = -90; |
lilac0112_1 | 4:7c488c059498 | 280 | *Power = *Power * Last_Vector; |
lilac0112_1 | 4:7c488c059498 | 281 | Last_Degree = degree; |
lilac0112_1 | 4:7c488c059498 | 282 | return ; |
lilac0112_1 | 4:7c488c059498 | 283 | } |
lilac0112_1 | 4:7c488c059498 | 284 | Last_Vector = DegreeToVector[(*Degree)/90]; |
lilac0112_1 | 3:2f74791564c9 | 285 | *Degree = Angle[*Degree%180]; |
lilac0112_1 | 2:39135c67083d | 286 | *Power = *Power * Last_Vector; |
lilac0112_1 | 3:2f74791564c9 | 287 | Last_Degree = degree; |
lilac0112_1 | 3:2f74791564c9 | 288 | if((*Degree <= -120)||(*Degree >=120)){ |
lilac0112_1 | 3:2f74791564c9 | 289 | *Degree = 0; |
lilac0112_1 | 3:2f74791564c9 | 290 | } |
lilac0112_1 | 2:39135c67083d | 291 | |
lilac0112_1 | 2:39135c67083d | 292 | } |
lilac0112_1 | 3:2f74791564c9 | 293 | int IrDegree(){ |
lilac0112_1 | 2:39135c67083d | 294 | /*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 | 295 | |
lilac0112_1 | 3:2f74791564c9 | 296 | uint8_t IrF ,IrS; |
lilac0112_1 | 3:2f74791564c9 | 297 | unsigned int irdegree = 0; |
lilac0112_1 | 3:2f74791564c9 | 298 | if(IrNum >=12){ |
lilac0112_1 | 3:2f74791564c9 | 299 | return 0; |
lilac0112_1 | 3:2f74791564c9 | 300 | } |
lilac0112_1 | 3:2f74791564c9 | 301 | IrF = IrData[0]/12; |
lilac0112_1 | 3:2f74791564c9 | 302 | IrS = IrData[0]%12; |
lilac0112_1 | 3:2f74791564c9 | 303 | |
lilac0112_1 | 3:2f74791564c9 | 304 | if(IrF == 0 ){ |
lilac0112_1 | 3:2f74791564c9 | 305 | if(IrS == 11){ |
lilac0112_1 | 3:2f74791564c9 | 306 | irdegree = 15; |
lilac0112_1 | 2:39135c67083d | 307 | |
lilac0112_1 | 3:2f74791564c9 | 308 | }else if(IrS == 1){ |
lilac0112_1 | 3:2f74791564c9 | 309 | irdegree = 345; |
lilac0112_1 | 3:2f74791564c9 | 310 | } |
lilac0112_1 | 3:2f74791564c9 | 311 | return irdegree; |
lilac0112_1 | 3:2f74791564c9 | 312 | } |
lilac0112_1 | 3:2f74791564c9 | 313 | irdegree = 360 - IrF*30; |
lilac0112_1 | 3:2f74791564c9 | 314 | if(IrS&&(abs(IrF-IrS) == 1)){ |
lilac0112_1 | 3:2f74791564c9 | 315 | irdegree = irdegree - (IrF - IrS)*15; |
lilac0112_1 | 2:39135c67083d | 316 | |
lilac0112_1 | 2:39135c67083d | 317 | } |
lilac0112_1 | 3:2f74791564c9 | 318 | if(irdegree>=360){ |
lilac0112_1 | 3:2f74791564c9 | 319 | return 0; |
lilac0112_1 | 3:2f74791564c9 | 320 | } |
lilac0112_1 | 3:2f74791564c9 | 321 | |
lilac0112_1 | 3:2f74791564c9 | 322 | return irdegree; |
lilac0112_1 | 0:d35efbf4d62e | 323 | } |
lilac0112_1 | 0:d35efbf4d62e | 324 | |
lilac0112_1 | 2:39135c67083d | 325 | |
lilac0112_1 | 3:2f74791564c9 | 326 | void IrFrontAction()//ball 12 or 0 o-clock |
lilac0112_1 | 1:e3248f278663 | 327 | { |
lilac0112_1 | 3:2f74791564c9 | 328 | if(IrData[1]>70){ |
lilac0112_1 | 3:2f74791564c9 | 329 | if(abs(CompassPID)>10){ |
lilac0112_1 | 3:2f74791564c9 | 330 | move(0,0,CompassPID,0); |
lilac0112_1 | 3:2f74791564c9 | 331 | return; |
lilac0112_1 | 3:2f74791564c9 | 332 | } |
lilac0112_1 | 3:2f74791564c9 | 333 | move(30,30,CompassPID,0); |
lilac0112_1 | 3:2f74791564c9 | 334 | return; |
lilac0112_1 | 3:2f74791564c9 | 335 | } |
lilac0112_1 | 3:2f74791564c9 | 336 | if(IrData[1]>60){ |
lilac0112_1 | 3:2f74791564c9 | 337 | move(25,25,CompassPID,0); |
lilac0112_1 | 3:2f74791564c9 | 338 | return; |
lilac0112_1 | 3:2f74791564c9 | 339 | } |
lilac0112_1 | 3:2f74791564c9 | 340 | /*IrData[1]>500*/ |
lilac0112_1 | 3:2f74791564c9 | 341 | |
lilac0112_1 | 3:2f74791564c9 | 342 | if(PingData[0]<50){ |
lilac0112_1 | 3:2f74791564c9 | 343 | if((PingData[1]<60)&&(PingData[1]>40)){ |
lilac0112_1 | 3:2f74791564c9 | 344 | /*右側に居る*/ |
lilac0112_1 | 3:2f74791564c9 | 345 | move(25,40,0,10); |
lilac0112_1 | 3:2f74791564c9 | 346 | wait_ms(100); |
lilac0112_1 | 3:2f74791564c9 | 347 | move(30,30,0,0); |
lilac0112_1 | 3:2f74791564c9 | 348 | return; |
lilac0112_1 | 3:2f74791564c9 | 349 | } |
lilac0112_1 | 3:2f74791564c9 | 350 | if((PingData[1]<60)&&(PingData[1]>40)){ |
lilac0112_1 | 3:2f74791564c9 | 351 | /*左側に居る*/ |
lilac0112_1 | 3:2f74791564c9 | 352 | move(40,25,0,-10); |
lilac0112_1 | 3:2f74791564c9 | 353 | wait_ms(100); |
lilac0112_1 | 3:2f74791564c9 | 354 | move(30,30,0,0); |
lilac0112_1 | 3:2f74791564c9 | 355 | return; |
lilac0112_1 | 3:2f74791564c9 | 356 | } |
lilac0112_1 | 3:2f74791564c9 | 357 | /*それ以外*/ |
lilac0112_1 | 3:2f74791564c9 | 358 | move(10,10,CompassPID,0); |
lilac0112_1 | 3:2f74791564c9 | 359 | //Receive(); |
lilac0112_1 | 3:2f74791564c9 | 360 | if(!(IrNum == 0)) return; |
lilac0112_1 | 3:2f74791564c9 | 361 | move(40,40,CompassPID,0); |
lilac0112_1 | 3:2f74791564c9 | 362 | return ; |
lilac0112_1 | 3:2f74791564c9 | 363 | } |
lilac0112_1 | 3:2f74791564c9 | 364 | move(20,20,CompassPID,0); |
lilac0112_1 | 3:2f74791564c9 | 365 | |
lilac0112_1 | 3:2f74791564c9 | 366 | |
lilac0112_1 | 1:e3248f278663 | 367 | |
lilac0112_1 | 1:e3248f278663 | 368 | } |
lilac0112_1 | 2:39135c67083d | 369 | |
lilac0112_1 | 3:2f74791564c9 | 370 | void IrBackAction()//ball found six o-clock |
lilac0112_1 | 0:d35efbf4d62e | 371 | { |
lilac0112_1 | 2:39135c67083d | 372 | /*** |
lilac0112_1 | 2:39135c67083d | 373 | * 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 | 374 | * |
lilac0112_1 | 2:39135c67083d | 375 | **/ |
lilac0112_1 | 3:2f74791564c9 | 376 | if(PingData[1]>PingData[3]){ |
lilac0112_1 | 2:39135c67083d | 377 | /*右が大きい*/ |
lilac0112_1 | 3:2f74791564c9 | 378 | if(IrData[1]>70){ |
lilac0112_1 | 3:2f74791564c9 | 379 | move(-20,-20,CompassPID,45); |
lilac0112_1 | 3:2f74791564c9 | 380 | return; |
lilac0112_1 | 3:2f74791564c9 | 381 | } |
lilac0112_1 | 3:2f74791564c9 | 382 | if(IrData[1]>60){ |
lilac0112_1 | 3:2f74791564c9 | 383 | move(-20,-20,CompassPID,60); |
lilac0112_1 | 3:2f74791564c9 | 384 | return; |
lilac0112_1 | 3:2f74791564c9 | 385 | } |
lilac0112_1 | 3:2f74791564c9 | 386 | move(-20,-20,CompassPID,80); |
lilac0112_1 | 0:d35efbf4d62e | 387 | return; |
lilac0112_1 | 0:d35efbf4d62e | 388 | } |
lilac0112_1 | 2:39135c67083d | 389 | /*左が大きい*/ |
lilac0112_1 | 0:d35efbf4d62e | 390 | |
lilac0112_1 | 3:2f74791564c9 | 391 | if(IrData[1]>70){ |
lilac0112_1 | 3:2f74791564c9 | 392 | move(-20,-20,CompassPID,-45); |
lilac0112_1 | 3:2f74791564c9 | 393 | return; |
lilac0112_1 | 0:d35efbf4d62e | 394 | } |
lilac0112_1 | 3:2f74791564c9 | 395 | if(IrData[1]>60){ |
lilac0112_1 | 3:2f74791564c9 | 396 | move(-20,-20,CompassPID,-60); |
lilac0112_1 | 3:2f74791564c9 | 397 | return; |
lilac0112_1 | 3:2f74791564c9 | 398 | } |
lilac0112_1 | 3:2f74791564c9 | 399 | move(-20,-20,CompassPID,-80); |
lilac0112_1 | 3:2f74791564c9 | 400 | return; |
lilac0112_1 | 2:39135c67083d | 401 | |
lilac0112_1 | 3:2f74791564c9 | 402 | } |
lilac0112_1 | 3:2f74791564c9 | 403 | |
lilac0112_1 | 3:2f74791564c9 | 404 | void GoHome()//Ball is not found. |
lilac0112_1 | 3:2f74791564c9 | 405 | { |
lilac0112_1 | 4:7c488c059498 | 406 | static bool State[20]={0}; |
lilac0112_1 | 4:7c488c059498 | 407 | /* |
lilac0112_1 | 4:7c488c059498 | 408 | State |
lilac0112_1 | 4:7c488c059498 | 409 | 0 |
lilac0112_1 | 4:7c488c059498 | 410 | 1 |
lilac0112_1 | 4:7c488c059498 | 411 | 2 |
lilac0112_1 | 4:7c488c059498 | 412 | 3 |
lilac0112_1 | 4:7c488c059498 | 413 | 4 |
lilac0112_1 | 4:7c488c059498 | 414 | 5 |
lilac0112_1 | 4:7c488c059498 | 415 | 6 |
lilac0112_1 | 4:7c488c059498 | 416 | */ |
lilac0112_1 | 4:7c488c059498 | 417 | |
lilac0112_1 | 4:7c488c059498 | 418 | |
lilac0112_1 | 4:7c488c059498 | 419 | for(int i=0; i<20; i++) State[i]=0; |
lilac0112_1 | 4:7c488c059498 | 420 | |
lilac0112_1 | 4:7c488c059498 | 421 | |
lilac0112_1 | 4:7c488c059498 | 422 | |
lilac0112_1 | 4:7c488c059498 | 423 | if(PingData[2] >=60) State[0]=1; |
lilac0112_1 | 4:7c488c059498 | 424 | |
lilac0112_1 | 4:7c488c059498 | 425 | if(PingData[2] <=40) State[1]=1; |
lilac0112_1 | 4:7c488c059498 | 426 | |
lilac0112_1 | 4:7c488c059498 | 427 | if(PingData[2] >=90-10) State[5]=1; |
lilac0112_1 | 4:7c488c059498 | 428 | |
lilac0112_1 | 4:7c488c059498 | 429 | if(PingData[2] <=40+10) State[6]=1; |
lilac0112_1 | 4:7c488c059498 | 430 | |
lilac0112_1 | 5:c8e4d5cdc353 | 431 | if(PingData[2] >=30) State[7]=1; |
lilac0112_1 | 4:7c488c059498 | 432 | |
lilac0112_1 | 5:c8e4d5cdc353 | 433 | if(PingData[2] <=10) State[8]=1; |
lilac0112_1 | 4:7c488c059498 | 434 | |
lilac0112_1 | 5:c8e4d5cdc353 | 435 | if((PingData[2] >=15)&&(PingData[2] <=25)) State[9]=1; |
lilac0112_1 | 4:7c488c059498 | 436 | |
lilac0112_1 | 5:c8e4d5cdc353 | 437 | if(PingData[2] <15) State[10]=1; |
lilac0112_1 | 5:c8e4d5cdc353 | 438 | |
lilac0112_1 | 5:c8e4d5cdc353 | 439 | if(PingData[2] >25) State[11]=1; |
lilac0112_1 | 4:7c488c059498 | 440 | |
lilac0112_1 | 4:7c488c059498 | 441 | |
lilac0112_1 | 4:7c488c059498 | 442 | |
lilac0112_1 | 4:7c488c059498 | 443 | if(PingData[0]>PingData[1]) State[2]=1; |
lilac0112_1 | 4:7c488c059498 | 444 | |
lilac0112_1 | 4:7c488c059498 | 445 | if( |
lilac0112_1 | 4:7c488c059498 | 446 | (PingData[0]+PingData[1]) |
lilac0112_1 | 4:7c488c059498 | 447 | >= 120 |
lilac0112_1 | 4:7c488c059498 | 448 | ) State[3]=1; |
lilac0112_1 | 4:7c488c059498 | 449 | |
lilac0112_1 | 4:7c488c059498 | 450 | if( |
lilac0112_1 | 4:7c488c059498 | 451 | (abs( int( int(PingData[0]) - int(PingData[1]) ) ) ) |
lilac0112_1 | 4:7c488c059498 | 452 | <= 10 |
lilac0112_1 | 4:7c488c059498 | 453 | ) State[4]=1; |
lilac0112_1 | 4:7c488c059498 | 454 | |
lilac0112_1 | 4:7c488c059498 | 455 | |
lilac0112_1 | 4:7c488c059498 | 456 | /*if(State[0]){ |
lilac0112_1 | 4:7c488c059498 | 457 | |
lilac0112_1 | 4:7c488c059498 | 458 | move(vrl[6],vrl[6],CompassPID,IrServo[6]); |
lilac0112_1 | 4:7c488c059498 | 459 | return ; |
lilac0112_1 | 4:7c488c059498 | 460 | }*/ |
lilac0112_1 | 4:7c488c059498 | 461 | |
lilac0112_1 | 4:7c488c059498 | 462 | if(State[4]){ |
lilac0112_1 | 5:c8e4d5cdc353 | 463 | |
lilac0112_1 | 5:c8e4d5cdc353 | 464 | if(State[9]){ |
lilac0112_1 | 5:c8e4d5cdc353 | 465 | moving(12); |
lilac0112_1 | 5:c8e4d5cdc353 | 466 | return ; |
lilac0112_1 | 5:c8e4d5cdc353 | 467 | } |
lilac0112_1 | 5:c8e4d5cdc353 | 468 | if(State[10]){ |
lilac0112_1 | 5:c8e4d5cdc353 | 469 | moving(0); |
lilac0112_1 | 5:c8e4d5cdc353 | 470 | return ; |
lilac0112_1 | 5:c8e4d5cdc353 | 471 | } |
lilac0112_1 | 5:c8e4d5cdc353 | 472 | if(State[11]){ |
lilac0112_1 | 5:c8e4d5cdc353 | 473 | moving(6); |
lilac0112_1 | 5:c8e4d5cdc353 | 474 | return ; |
lilac0112_1 | 4:7c488c059498 | 475 | } |
lilac0112_1 | 4:7c488c059498 | 476 | |
lilac0112_1 | 5:c8e4d5cdc353 | 477 | |
lilac0112_1 | 4:7c488c059498 | 478 | |
lilac0112_1 | 4:7c488c059498 | 479 | }else{ |
lilac0112_1 | 4:7c488c059498 | 480 | if(State[2]){ |
lilac0112_1 | 5:c8e4d5cdc353 | 481 | moving(9); |
lilac0112_1 | 4:7c488c059498 | 482 | return ; |
lilac0112_1 | 4:7c488c059498 | 483 | } |
lilac0112_1 | 4:7c488c059498 | 484 | else{ |
lilac0112_1 | 5:c8e4d5cdc353 | 485 | moving(3); |
lilac0112_1 | 4:7c488c059498 | 486 | return ; |
lilac0112_1 | 4:7c488c059498 | 487 | } |
lilac0112_1 | 4:7c488c059498 | 488 | } |
lilac0112_1 | 4:7c488c059498 | 489 | |
lilac0112_1 | 2:39135c67083d | 490 | } |
lilac0112_1 | 0:d35efbf4d62e | 491 | |
lilac0112_1 | 0:d35efbf4d62e | 492 | |
lilac0112_1 | 2:39135c67083d | 493 | void PidUpdate() |
lilac0112_1 | 2:39135c67083d | 494 | { |
lilac0112_1 | 0:d35efbf4d62e | 495 | |
lilac0112_1 | 3:2f74791564c9 | 496 | pid.setSetPoint((int)((REFERENCE + SetC) / 1.0)); |
lilac0112_1 | 3:2f74791564c9 | 497 | InputPID = ((Compass/10) + 540 - CompassDef) % 360; |
lilac0112_1 | 3:2f74791564c9 | 498 | |
lilac0112_1 | 3:2f74791564c9 | 499 | pid.setProcessValue(InputPID); |
lilac0112_1 | 3:2f74791564c9 | 500 | CompassPID = (pid.compute()); |
lilac0112_1 | 0:d35efbf4d62e | 501 | } |
lilac0112_1 | 2:39135c67083d | 502 | |
lilac0112_1 | 0:d35efbf4d62e | 503 | uint8_t SwRead(){ |
lilac0112_1 | 0:d35efbf4d62e | 504 | /****** |
lilac0112_1 | 2:39135c67083d | 505 | *retrun : sw_state |
lilac0112_1 | 2:39135c67083d | 506 | *StartS = 0x01; |
lilac0112_1 | 2:39135c67083d | 507 | *Debug2 = 0x02; |
lilac0112_1 | 0:d35efbf4d62e | 508 | *Debug1 = 0x04; |
lilac0112_1 | 2:39135c67083d | 509 | *Debug3 = 0x06; |
lilac0112_1 | 2:39135c67083d | 510 | *Kicker = 0x08; |
lilac0112_1 | 2:39135c67083d | 511 | *Calibration = 0x10; |
lilac0112_1 | 2:39135c67083d | 512 | |
lilac0112_1 | 0:d35efbf4d62e | 513 | * |
lilac0112_1 | 0:d35efbf4d62e | 514 | *****/ |
lilac0112_1 | 0:d35efbf4d62e | 515 | uint8_t i,temp,temp2; |
lilac0112_1 | 2:39135c67083d | 516 | temp = ~Sw - 224; |
lilac0112_1 | 2:39135c67083d | 517 | if(!(temp == Kicker |
lilac0112_1 | 0:d35efbf4d62e | 518 | ||temp == Debug1 |
lilac0112_1 | 0:d35efbf4d62e | 519 | ||temp == Debug2 |
lilac0112_1 | 2:39135c67083d | 520 | ||temp == Debug3 |
lilac0112_1 | 3:2f74791564c9 | 521 | ||temp == Debug12 |
lilac0112_1 | 3:2f74791564c9 | 522 | ||temp == Debug23 |
lilac0112_1 | 2:39135c67083d | 523 | ||temp == StartS)) return 0;/*スイッチが押されていない*/ |
lilac0112_1 | 2:39135c67083d | 524 | if(!(temp == 0x00)){ |
lilac0112_1 | 0:d35efbf4d62e | 525 | for(i = 0; i < 50; i++); |
lilac0112_1 | 2:39135c67083d | 526 | temp2 = ~Sw - 224; |
lilac0112_1 | 0:d35efbf4d62e | 527 | if(temp == temp2){ |
lilac0112_1 | 0:d35efbf4d62e | 528 | return temp; |
lilac0112_1 | 0:d35efbf4d62e | 529 | } |
lilac0112_1 | 0:d35efbf4d62e | 530 | } |
lilac0112_1 | 0:d35efbf4d62e | 531 | return 0; |
lilac0112_1 | 0:d35efbf4d62e | 532 | } |
lilac0112_1 | 0:d35efbf4d62e | 533 | |
lilac0112_1 | 0:d35efbf4d62e | 534 | //通信(モータ用) |
lilac0112_1 | 0:d35efbf4d62e | 535 | void tx_motor(){ |
lilac0112_1 | 2:39135c67083d | 536 | |
lilac0112_1 | 3:2f74791564c9 | 537 | /* |
lilac0112_1 | 3:2f74791564c9 | 538 | speed[0]=0; |
lilac0112_1 | 3:2f74791564c9 | 539 | speed[1]=0; |
lilac0112_1 | 3:2f74791564c9 | 540 | speed[2]=0; |
lilac0112_1 | 3:2f74791564c9 | 541 | speed[3]=0; |
lilac0112_1 | 3:2f74791564c9 | 542 | */ |
lilac0112_1 | 0:d35efbf4d62e | 543 | array(speed[0],speed[1],speed[3],speed[2]); |
lilac0112_1 | 0:d35efbf4d62e | 544 | Motor.printf("%s",StringFIN.c_str()); |
lilac0112_1 | 0:d35efbf4d62e | 545 | } |
lilac0112_1 | 0:d35efbf4d62e | 546 | |
lilac0112_1 | 2:39135c67083d | 547 | void SetUp(){ |
lilac0112_1 | 0:d35efbf4d62e | 548 | /*初期化*/ |
lilac0112_1 | 3:2f74791564c9 | 549 | |
lilac0112_1 | 3:2f74791564c9 | 550 | |
lilac0112_1 | 0:d35efbf4d62e | 551 | Motor.baud(115200); //ボーレート設定 |
lilac0112_1 | 0:d35efbf4d62e | 552 | Motor.printf("1F0002F0003F0004F000\r\n"); //モータ停止 |
lilac0112_1 | 0:d35efbf4d62e | 553 | Motor.attach(&tx_motor,Serial::TxIrq); //送信空き割り込み(モータ用) |
lilac0112_1 | 2:39135c67083d | 554 | |
lilac0112_1 | 3:2f74791564c9 | 555 | Mbed.attach(&micon_rx,Serial::RxIrq); //送信空き割り込み(センサ用) |
lilac0112_1 | 3:2f74791564c9 | 556 | |
lilac0112_1 | 3:2f74791564c9 | 557 | S555.calibrate(0.0006, 120.0); |
lilac0112_1 | 3:2f74791564c9 | 558 | //S555.position(0.0); //初期位置にセット |
lilac0112_1 | 2:39135c67083d | 559 | move(0,0,0,0);//停止 |
lilac0112_1 | 0:d35efbf4d62e | 560 | |
lilac0112_1 | 2:39135c67083d | 561 | Kick = 0; |
lilac0112_1 | 2:39135c67083d | 562 | Sw.mode(PullUp); |
lilac0112_1 | 0:d35efbf4d62e | 563 | |
lilac0112_1 | 2:39135c67083d | 564 | pid.setInputLimits(MINIMUM,MAXIMUM); //pid sed def |
lilac0112_1 | 2:39135c67083d | 565 | pid.setOutputLimits(-OUT_LIMIT, OUT_LIMIT); //pid sed def |
lilac0112_1 | 2:39135c67083d | 566 | pid.setBias(PID_BIAS); //pid sed def |
lilac0112_1 | 2:39135c67083d | 567 | pid.setMode(AUTO_MODE); //pid sed def |
lilac0112_1 | 3:2f74791564c9 | 568 | pid.setSetPoint(REFERENCE); //pid sed def |
lilac0112_1 | 0:d35efbf4d62e | 569 | |
lilac0112_1 | 2:39135c67083d | 570 | for(int i=0; i<15; i++){ |
lilac0112_1 | 3:2f74791564c9 | 571 | CompassDef = (Compass / 10); |
lilac0112_1 | 3:2f74791564c9 | 572 | wait_ms(10); |
lilac0112_1 | 2:39135c67083d | 573 | } |
lilac0112_1 | 4:7c488c059498 | 574 | //pidupdate.attach(&PidUpdate, PID_CYCLE); |
lilac0112_1 | 3:2f74791564c9 | 575 | |
lilac0112_1 | 0:d35efbf4d62e | 576 | |
lilac0112_1 | 0:d35efbf4d62e | 577 | } |
lilac0112_1 | 0:d35efbf4d62e | 578 | void StartLoop(){ |
lilac0112_1 | 2:39135c67083d | 579 | |
lilac0112_1 | 0:d35efbf4d62e | 580 | uint8_t State = 0; |
lilac0112_1 | 2:39135c67083d | 581 | uint8_t LineData = 0; |
lilac0112_1 | 0:d35efbf4d62e | 582 | while(1){ |
lilac0112_1 | 2:39135c67083d | 583 | Led[0] = Led[1] = Led[2] = Led[3] = 1; |
lilac0112_1 | 2:39135c67083d | 584 | //Lcd.cls(); |
lilac0112_1 | 3:2f74791564c9 | 585 | |
lilac0112_1 | 0:d35efbf4d62e | 586 | State = SwRead(); |
lilac0112_1 | 0:d35efbf4d62e | 587 | if(State == 0) continue; |
lilac0112_1 | 0:d35efbf4d62e | 588 | |
lilac0112_1 | 2:39135c67083d | 589 | if(State == StartS){ |
lilac0112_1 | 2:39135c67083d | 590 | /*loop end & start*/ |
lilac0112_1 | 3:2f74791564c9 | 591 | return; |
lilac0112_1 | 0:d35efbf4d62e | 592 | } |
lilac0112_1 | 2:39135c67083d | 593 | |
lilac0112_1 | 2:39135c67083d | 594 | if(State == Debug1){ |
lilac0112_1 | 2:39135c67083d | 595 | while((State == Debug1)){ |
lilac0112_1 | 2:39135c67083d | 596 | LineData = (~Line+0x00) & 0x0F; |
lilac0112_1 | 2:39135c67083d | 597 | Lcd.printf("%d\n",LineData); |
lilac0112_1 | 2:39135c67083d | 598 | |
lilac0112_1 | 2:39135c67083d | 599 | wait_ms(100); |
lilac0112_1 | 2:39135c67083d | 600 | State = SwRead(); |
lilac0112_1 | 2:39135c67083d | 601 | } |
lilac0112_1 | 2:39135c67083d | 602 | Lcd.cls(); |
lilac0112_1 | 0:d35efbf4d62e | 603 | continue; |
lilac0112_1 | 0:d35efbf4d62e | 604 | |
lilac0112_1 | 0:d35efbf4d62e | 605 | } |
lilac0112_1 | 0:d35efbf4d62e | 606 | if(State == Debug2){ |
lilac0112_1 | 2:39135c67083d | 607 | while((State == Debug2)){ |
lilac0112_1 | 3:2f74791564c9 | 608 | //Receive(); |
lilac0112_1 | 2:39135c67083d | 609 | Lcd.printf("%d\n",IrNum); |
lilac0112_1 | 3:2f74791564c9 | 610 | //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 | 611 | wait_ms(100); |
lilac0112_1 | 2:39135c67083d | 612 | State = SwRead(); |
lilac0112_1 | 2:39135c67083d | 613 | } |
lilac0112_1 | 2:39135c67083d | 614 | Lcd.cls(); |
lilac0112_1 | 2:39135c67083d | 615 | continue; |
lilac0112_1 | 0:d35efbf4d62e | 616 | } |
lilac0112_1 | 2:39135c67083d | 617 | |
lilac0112_1 | 2:39135c67083d | 618 | if(State == Debug3){ |
lilac0112_1 | 2:39135c67083d | 619 | while((State == Debug3)){ |
lilac0112_1 | 2:39135c67083d | 620 | Lcd.printf("%d\n",((Compass / 10) + 540 - CompassDef) % 360); |
lilac0112_1 | 3:2f74791564c9 | 621 | wait_ms(100); |
lilac0112_1 | 3:2f74791564c9 | 622 | State = SwRead(); |
lilac0112_1 | 3:2f74791564c9 | 623 | } |
lilac0112_1 | 3:2f74791564c9 | 624 | Lcd.cls(); |
lilac0112_1 | 3:2f74791564c9 | 625 | continue; |
lilac0112_1 | 3:2f74791564c9 | 626 | } |
lilac0112_1 | 3:2f74791564c9 | 627 | if(State == Debug12){ |
lilac0112_1 | 3:2f74791564c9 | 628 | while((State == Debug12)){ |
lilac0112_1 | 3:2f74791564c9 | 629 | Lcd.printf("%d\n", PingData[0]);//Left |
lilac0112_1 | 3:2f74791564c9 | 630 | Lcd.printf("%d\n", PingData[1]);//Right |
lilac0112_1 | 3:2f74791564c9 | 631 | wait_ms(100); |
lilac0112_1 | 3:2f74791564c9 | 632 | State = SwRead(); |
lilac0112_1 | 3:2f74791564c9 | 633 | } |
lilac0112_1 | 3:2f74791564c9 | 634 | Lcd.cls(); |
lilac0112_1 | 3:2f74791564c9 | 635 | continue; |
lilac0112_1 | 3:2f74791564c9 | 636 | } |
lilac0112_1 | 3:2f74791564c9 | 637 | if(State == Debug23){ |
lilac0112_1 | 3:2f74791564c9 | 638 | while((State == Debug23)){ |
lilac0112_1 | 3:2f74791564c9 | 639 | Lcd.printf("%d\n", PingData[2]);//Back |
lilac0112_1 | 3:2f74791564c9 | 640 | Lcd.printf("%d\n", PingData[3]);//Front |
lilac0112_1 | 2:39135c67083d | 641 | wait_ms(100); |
lilac0112_1 | 2:39135c67083d | 642 | State = SwRead(); |
lilac0112_1 | 2:39135c67083d | 643 | } |
lilac0112_1 | 2:39135c67083d | 644 | Lcd.cls(); |
lilac0112_1 | 2:39135c67083d | 645 | continue; |
lilac0112_1 | 0:d35efbf4d62e | 646 | } |
lilac0112_1 | 0:d35efbf4d62e | 647 | |
lilac0112_1 | 2:39135c67083d | 648 | if(State == Kicker){ |
lilac0112_1 | 3:2f74791564c9 | 649 | while((State == Kicker)){ |
lilac0112_1 | 3:2f74791564c9 | 650 | Lcd.printf("%f\n",CompassPID); |
lilac0112_1 | 3:2f74791564c9 | 651 | wait_ms(100); |
lilac0112_1 | 3:2f74791564c9 | 652 | State = SwRead(); |
lilac0112_1 | 3:2f74791564c9 | 653 | } |
lilac0112_1 | 3:2f74791564c9 | 654 | Lcd.cls(); |
lilac0112_1 | 3:2f74791564c9 | 655 | continue; |
lilac0112_1 | 3:2f74791564c9 | 656 | |
lilac0112_1 | 3:2f74791564c9 | 657 | /*Led[0] = Led[1] = Led[2] = 0; |
lilac0112_1 | 3:2f74791564c9 | 658 | Kick = 1; |
lilac0112_1 | 3:2f74791564c9 | 659 | wait_ms(500); |
lilac0112_1 | 3:2f74791564c9 | 660 | Kick = 0; |
lilac0112_1 | 2:39135c67083d | 661 | while((State == Kicker)){ |
lilac0112_1 | 2:39135c67083d | 662 | wait_ms(100); |
lilac0112_1 | 2:39135c67083d | 663 | State = SwRead(); |
lilac0112_1 | 2:39135c67083d | 664 | } |
lilac0112_1 | 3:2f74791564c9 | 665 | continue;*/ |
lilac0112_1 | 2:39135c67083d | 666 | } |
lilac0112_1 | 3:2f74791564c9 | 667 | } |
lilac0112_1 | 0:d35efbf4d62e | 668 | |
lilac0112_1 | 0:d35efbf4d62e | 669 | } |
lilac0112_1 | 4:7c488c059498 | 670 | |
lilac0112_1 | 4:7c488c059498 | 671 | uint8_t LinkBit(bool eight, bool seven, bool six, bool five, bool fore, bool three, bool two, bool one){ |
lilac0112_1 | 4:7c488c059498 | 672 | return 0x80*eight + 0x40*seven + 0x20*six + 0x10*five + 0x08*fore + 0x04*three + 0x02*two + 0x01*one; |
lilac0112_1 | 4:7c488c059498 | 673 | } |
lilac0112_1 | 4:7c488c059498 | 674 | |
lilac0112_1 | 0:d35efbf4d62e | 675 | int main() { |
lilac0112_1 | 0:d35efbf4d62e | 676 | |
lilac0112_1 | 3:2f74791564c9 | 677 | //uint8_t IrNumOld = 0;//過去値 |
lilac0112_1 | 0:d35efbf4d62e | 678 | /*Line*/ |
lilac0112_1 | 2:39135c67083d | 679 | uint8_t LineData = 0; |
lilac0112_1 | 4:7c488c059498 | 680 | //uint8_t LinePing = 0; |
lilac0112_1 | 3:2f74791564c9 | 681 | |
lilac0112_1 | 2:39135c67083d | 682 | |
lilac0112_1 | 0:d35efbf4d62e | 683 | /*State */ |
lilac0112_1 | 4:7c488c059498 | 684 | /*uint8_t LineIr = 0; |
lilac0112_1 | 3:2f74791564c9 | 685 | uint8_t IrChange[13] ={0x01,0x01,0x03,0x02,0x02,0x06, |
lilac0112_1 | 3:2f74791564c9 | 686 | |
lilac0112_1 | 3:2f74791564c9 | 687 | 0x04,0x04,0x0B,0x08,0x08,0x09,0x00}; |
lilac0112_1 | 4:7c488c059498 | 688 | */ |
lilac0112_1 | 2:39135c67083d | 689 | /*行動設定*/ |
lilac0112_1 | 4:7c488c059498 | 690 | //int Power = 0; |
lilac0112_1 | 4:7c488c059498 | 691 | //int Degree = 0; |
lilac0112_1 | 2:39135c67083d | 692 | |
lilac0112_1 | 2:39135c67083d | 693 | /*楽しい変数達*/ |
lilac0112_1 | 4:7c488c059498 | 694 | //int nDegree =0;//基礎角 |
lilac0112_1 | 4:7c488c059498 | 695 | //int addDegree = 0;//追加角 |
lilac0112_1 | 0:d35efbf4d62e | 696 | |
lilac0112_1 | 4:7c488c059498 | 697 | /**/ |
lilac0112_1 | 5:c8e4d5cdc353 | 698 | int Gap=2; |
lilac0112_1 | 4:7c488c059498 | 699 | bool LineState[10]={0}; |
lilac0112_1 | 0:d35efbf4d62e | 700 | |
lilac0112_1 | 0:d35efbf4d62e | 701 | |
lilac0112_1 | 0:d35efbf4d62e | 702 | /*関数ポインタ*/ |
lilac0112_1 | 3:2f74791564c9 | 703 | |
lilac0112_1 | 3:2f74791564c9 | 704 | |
lilac0112_1 | 3:2f74791564c9 | 705 | //void (*AnotherAction[3])(uint8_t [],double); |
lilac0112_1 | 4:7c488c059498 | 706 | /*void (*AnotherAction[3])(); |
lilac0112_1 | 2:39135c67083d | 707 | AnotherAction[0] = IrFrontAction; |
lilac0112_1 | 2:39135c67083d | 708 | AnotherAction[1] = IrBackAction; |
lilac0112_1 | 4:7c488c059498 | 709 | AnotherAction[2] = GoHome;*/ |
lilac0112_1 | 2:39135c67083d | 710 | |
lilac0112_1 | 3:2f74791564c9 | 711 | |
lilac0112_1 | 2:39135c67083d | 712 | SetUp();/*set up routine*/ |
lilac0112_1 | 3:2f74791564c9 | 713 | |
lilac0112_1 | 2:39135c67083d | 714 | StartLoop(); /*loop strat, switch push end*/ |
lilac0112_1 | 3:2f74791564c9 | 715 | Led[0] = Led[1] = Led[2] = Led[3] = 0; |
lilac0112_1 | 3:2f74791564c9 | 716 | wait_ms(100); |
lilac0112_1 | 2:39135c67083d | 717 | |
lilac0112_1 | 3:2f74791564c9 | 718 | Loop = 0; |
lilac0112_1 | 2:39135c67083d | 719 | |
lilac0112_1 | 3:2f74791564c9 | 720 | while(1){ |
lilac0112_1 | 3:2f74791564c9 | 721 | |
lilac0112_1 | 5:c8e4d5cdc353 | 722 | /*if( |
lilac0112_1 | 4:7c488c059498 | 723 | ( |
lilac0112_1 | 4:7c488c059498 | 724 | ( |
lilac0112_1 | 4:7c488c059498 | 725 | ( |
lilac0112_1 | 4:7c488c059498 | 726 | (Compass / 10) + 540 - CompassDef |
lilac0112_1 | 4:7c488c059498 | 727 | ) % 360 |
lilac0112_1 | 4:7c488c059498 | 728 | ) - REFERENCE |
lilac0112_1 | 5:c8e4d5cdc353 | 729 | ) >=15 |
lilac0112_1 | 4:7c488c059498 | 730 | ){ |
lilac0112_1 | 3:2f74791564c9 | 731 | |
lilac0112_1 | 4:7c488c059498 | 732 | move(0,0,0,0); |
lilac0112_1 | 2:39135c67083d | 733 | continue; |
lilac0112_1 | 5:c8e4d5cdc353 | 734 | }*/ |
lilac0112_1 | 3:2f74791564c9 | 735 | |
lilac0112_1 | 4:7c488c059498 | 736 | LineData = (~Line+0x00) & 0x0F; |
lilac0112_1 | 4:7c488c059498 | 737 | |
lilac0112_1 | 4:7c488c059498 | 738 | for(int i=0; i<10; i++) LineState[i]=0; |
lilac0112_1 | 3:2f74791564c9 | 739 | |
lilac0112_1 | 4:7c488c059498 | 740 | if(LineData!=0){ |
lilac0112_1 | 4:7c488c059498 | 741 | |
lilac0112_1 | 4:7c488c059498 | 742 | if(PingData[0]>PingData[1]) LineState[0]=1; |
lilac0112_1 | 5:c8e4d5cdc353 | 743 | if(PingData[2]<=30) LineState[1]=1; |
lilac0112_1 | 4:7c488c059498 | 744 | |
lilac0112_1 | 4:7c488c059498 | 745 | switch(LinkBit(0,0,0,0,0,0,LineState[1],LineState[0])&0x03){ |
lilac0112_1 | 4:7c488c059498 | 746 | |
lilac0112_1 | 4:7c488c059498 | 747 | case 0: |
lilac0112_1 | 4:7c488c059498 | 748 | moving(3); |
lilac0112_1 | 4:7c488c059498 | 749 | break; |
lilac0112_1 | 4:7c488c059498 | 750 | case 1: |
lilac0112_1 | 4:7c488c059498 | 751 | moving(9); |
lilac0112_1 | 4:7c488c059498 | 752 | break; |
lilac0112_1 | 4:7c488c059498 | 753 | case 2: |
lilac0112_1 | 4:7c488c059498 | 754 | moving(1); |
lilac0112_1 | 4:7c488c059498 | 755 | break; |
lilac0112_1 | 4:7c488c059498 | 756 | case 3: |
lilac0112_1 | 4:7c488c059498 | 757 | moving(11); |
lilac0112_1 | 4:7c488c059498 | 758 | break; |
lilac0112_1 | 4:7c488c059498 | 759 | default : |
lilac0112_1 | 4:7c488c059498 | 760 | break; |
lilac0112_1 | 4:7c488c059498 | 761 | |
lilac0112_1 | 4:7c488c059498 | 762 | } |
lilac0112_1 | 4:7c488c059498 | 763 | /*if(LastPwm[0]==0){ |
lilac0112_1 | 4:7c488c059498 | 764 | |
lilac0112_1 | 4:7c488c059498 | 765 | } |
lilac0112_1 | 4:7c488c059498 | 766 | move(LastPwm[0]*(-1),LastPwm[3]*(-1)*(-1),0,LastDeg);*/ |
lilac0112_1 | 4:7c488c059498 | 767 | wait(0.5); |
lilac0112_1 | 4:7c488c059498 | 768 | continue; |
lilac0112_1 | 4:7c488c059498 | 769 | |
lilac0112_1 | 4:7c488c059498 | 770 | }else{ |
lilac0112_1 | 5:c8e4d5cdc353 | 771 | if(PingData[0]<=10) LineState[2]=1; |
lilac0112_1 | 5:c8e4d5cdc353 | 772 | if(PingData[1]<=10) LineState[3]=1; |
lilac0112_1 | 5:c8e4d5cdc353 | 773 | if(PingData[2]<=10) LineState[4]=1; |
lilac0112_1 | 4:7c488c059498 | 774 | |
lilac0112_1 | 4:7c488c059498 | 775 | switch(LinkBit(0,0,0,0,0,LineState[4],LineState[3],LineState[2])&0x07){ |
lilac0112_1 | 4:7c488c059498 | 776 | |
lilac0112_1 | 4:7c488c059498 | 777 | case 0: |
lilac0112_1 | 4:7c488c059498 | 778 | break; |
lilac0112_1 | 4:7c488c059498 | 779 | case 1: |
lilac0112_1 | 4:7c488c059498 | 780 | moving(3); |
lilac0112_1 | 4:7c488c059498 | 781 | break; |
lilac0112_1 | 4:7c488c059498 | 782 | case 2: |
lilac0112_1 | 4:7c488c059498 | 783 | moving(9); |
lilac0112_1 | 4:7c488c059498 | 784 | break; |
lilac0112_1 | 4:7c488c059498 | 785 | case 3: |
lilac0112_1 | 4:7c488c059498 | 786 | moving(6); |
lilac0112_1 | 4:7c488c059498 | 787 | break; |
lilac0112_1 | 4:7c488c059498 | 788 | case 4: |
lilac0112_1 | 4:7c488c059498 | 789 | moving(0); |
lilac0112_1 | 4:7c488c059498 | 790 | break; |
lilac0112_1 | 4:7c488c059498 | 791 | case 5: |
lilac0112_1 | 4:7c488c059498 | 792 | moving(1); |
lilac0112_1 | 4:7c488c059498 | 793 | break; |
lilac0112_1 | 4:7c488c059498 | 794 | case 6: |
lilac0112_1 | 4:7c488c059498 | 795 | moving(11); |
lilac0112_1 | 4:7c488c059498 | 796 | break; |
lilac0112_1 | 4:7c488c059498 | 797 | case 7: |
lilac0112_1 | 4:7c488c059498 | 798 | moving(0); |
lilac0112_1 | 4:7c488c059498 | 799 | break; |
lilac0112_1 | 4:7c488c059498 | 800 | default : |
lilac0112_1 | 4:7c488c059498 | 801 | break; |
lilac0112_1 | 4:7c488c059498 | 802 | |
lilac0112_1 | 4:7c488c059498 | 803 | } |
lilac0112_1 | 4:7c488c059498 | 804 | |
lilac0112_1 | 4:7c488c059498 | 805 | if((LinkBit(0,0,0,0,0,LineState[4],LineState[3],LineState[2])&0x07)!=0){ |
lilac0112_1 | 4:7c488c059498 | 806 | wait(0.2); |
lilac0112_1 | 4:7c488c059498 | 807 | continue; |
lilac0112_1 | 4:7c488c059498 | 808 | } |
lilac0112_1 | 4:7c488c059498 | 809 | } |
lilac0112_1 | 3:2f74791564c9 | 810 | |
lilac0112_1 | 0:d35efbf4d62e | 811 | |
lilac0112_1 | 4:7c488c059498 | 812 | |
lilac0112_1 | 4:7c488c059498 | 813 | if(PingData[2]>=90){ |
lilac0112_1 | 4:7c488c059498 | 814 | |
lilac0112_1 | 4:7c488c059498 | 815 | moving(6); |
lilac0112_1 | 4:7c488c059498 | 816 | wait(0.2); |
lilac0112_1 | 4:7c488c059498 | 817 | continue; |
lilac0112_1 | 3:2f74791564c9 | 818 | } |
lilac0112_1 | 5:c8e4d5cdc353 | 819 | |
lilac0112_1 | 5:c8e4d5cdc353 | 820 | |
lilac0112_1 | 5:c8e4d5cdc353 | 821 | switch(/*IrNum*/12){ |
lilac0112_1 | 5:c8e4d5cdc353 | 822 | case 0: |
lilac0112_1 | 5:c8e4d5cdc353 | 823 | case 1: |
lilac0112_1 | 5:c8e4d5cdc353 | 824 | case 2: |
lilac0112_1 | 5:c8e4d5cdc353 | 825 | case 3: |
lilac0112_1 | 5:c8e4d5cdc353 | 826 | moving(IrNum); |
lilac0112_1 | 5:c8e4d5cdc353 | 827 | break; |
lilac0112_1 | 5:c8e4d5cdc353 | 828 | case 4: |
lilac0112_1 | 5:c8e4d5cdc353 | 829 | case 5: |
lilac0112_1 | 5:c8e4d5cdc353 | 830 | moving(IrNum+Gap); |
lilac0112_1 | 5:c8e4d5cdc353 | 831 | break; |
lilac0112_1 | 5:c8e4d5cdc353 | 832 | case 6: |
lilac0112_1 | 5:c8e4d5cdc353 | 833 | if(PingData[0]>PingData[1]) moving(IrNum+Gap); |
lilac0112_1 | 5:c8e4d5cdc353 | 834 | else moving(IrNum-Gap); |
lilac0112_1 | 5:c8e4d5cdc353 | 835 | |
lilac0112_1 | 5:c8e4d5cdc353 | 836 | break; |
lilac0112_1 | 5:c8e4d5cdc353 | 837 | case 7: |
lilac0112_1 | 5:c8e4d5cdc353 | 838 | case 8: |
lilac0112_1 | 5:c8e4d5cdc353 | 839 | moving(IrNum-Gap); |
lilac0112_1 | 5:c8e4d5cdc353 | 840 | break; |
lilac0112_1 | 5:c8e4d5cdc353 | 841 | case 9: |
lilac0112_1 | 5:c8e4d5cdc353 | 842 | case 10: |
lilac0112_1 | 5:c8e4d5cdc353 | 843 | case 11: |
lilac0112_1 | 5:c8e4d5cdc353 | 844 | moving(IrNum); |
lilac0112_1 | 5:c8e4d5cdc353 | 845 | break; |
lilac0112_1 | 5:c8e4d5cdc353 | 846 | case 12: |
lilac0112_1 | 5:c8e4d5cdc353 | 847 | GoHome(); |
lilac0112_1 | 5:c8e4d5cdc353 | 848 | break; |
lilac0112_1 | 5:c8e4d5cdc353 | 849 | default: |
lilac0112_1 | 5:c8e4d5cdc353 | 850 | break; |
lilac0112_1 | 4:7c488c059498 | 851 | } |
lilac0112_1 | 2:39135c67083d | 852 | |
lilac0112_1 | 5:c8e4d5cdc353 | 853 | |
lilac0112_1 | 0:d35efbf4d62e | 854 | } |
lilac0112_1 | 0:d35efbf4d62e | 855 | } |