File content as of revision 2:39135c67083d:

/***********************************
 *RoboCupJunior Soccer B Open 2015 
 *Koshinnestu progrum
 *
 *　
 *　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
 *
 *　MotorDriverにmaxonに命令
 *　
 *　servoにステアリング指示
 *　
 *　LCDでデバック
 *
 *　スイッチ4つとスタートスイッチで処理を実行
 *  

 ************************* 
 *  Pin Map 
 *  
 *  p5~p8   >> BusIn >> LineSensor 
 *
 *  p9,p10  >> I2C         >> LPC1114FN28/102 read & Compass
 *
 *  p13,p14 >> Serial      >> Motor
 * 
 *  p21     >> PwmOut      >> Servo 
 *
 *  p22~p26 >> DigitalIn   >> DebugSw and StartSw 
 *
 *  p27,p28 >> I2C         >> DebugLCD
 *
 *  p29     >> DigitalOut  >> Kicker 
 *    
 *  *never use pin number p11,p12,p15,p16,p17,p18,p19,p20,p30
 *   
 *  
 ******************************/

#include "mbed.h"
#include <math.h>
#include <sstream>
#include "PID.h"
#include "AQM0802A.h"
#include "MultiSerial.h"
#include "Servo.h"
#include "main.h"


void Receive(void){
    
    IrData[0]   = rx_data[0];
    IrData[1]   = rx_data[1];
    IrData[2]   = rx_data[2];
    PingData[0] = rx_data[3];
    PingData[1] = rx_data[4];
    PingData[2] = rx_data[5];
    PingData[3] = rx_data[6];
    Compass     =(rx_data[7]<<0) | 
                 (rx_data[8]<<8);
    
    /*
    pc.printf("%d\t", IrData[0]);
    pc.printf("%d\t", IrData[1]);
    pc.printf("%d\t", IrData[2]);
    pc.printf("%d\t", PingData[0]);
    pc.printf("%d\t", PingData[1]);
    pc.printf("%d\t", PingData[2]);
    pc.printf("%d\t", PingData[3]);
    pc.printf("%d\t", Compass);
    //pc.printf("%d\t", Mbed.__readSize);
    pc.printf("\n");
    */
    
    if(IrData[0] == 255){
        IrNum = 12;
        return;
    }
    IrNum = IrData[0]/12;

}

void move(int vr,int vl, double vs ,double Rad){
    double pwm[4] = {0};
    uint8_t i = 0;
    pwm[0] = vr - vs;
    pwm[1] = 0;
    pwm[2] = 0;
    pwm[3] =  vl*(-1.2) + vs;
    pc.printf("%d\t %d\t %f\t %f\t\n", vr, vl, vs, Rad);
    for(i = 0; i < 4; i++){
            if(pwm[i] > 100){
                pwm[i] = 100;
            }else if(pwm[i] < -100){
                pwm[i] = -100;
            }
        speed[i] = pwm[i];
    }
    SetRad = Rad;
    wait_ms(10);
}
void fool (int *Rad, int *Power){
    static int Last_Rad = 0;
    static int Last_Vector = 1;
    int rad = *Rad;
    int Temp;
    Temp = Last_Rad % 180;

    if((Temp>70) &&(Temp<110)){
        Temp = *Rad % 180;
        if((Temp>70) &&(Temp<110)){
            Temp = abs(*Rad - Last_Rad);
            if(Temp>160){
                Last_Vector = -1 * Last_Vector;//正転逆転切り替え
                if(*Rad/180){
                    *Rad = Angle[Last_Rad%180] -(Last_Rad - *Rad%180);
                    *Power = *Power * Last_Vector;
                }else{
                    *Rad = Angle[Last_Rad%180] -(Last_Rad%180 - *Rad);
                    *Power = *Power * Last_Vector;
                }
                Last_Rad = rad;
                return;
            }else if((Last_Vector+2) == 1){
                /*逆転のまま角度拡張*/
                if(*Rad/180){
                    *Rad = -360 + *Rad ;
                    *Power = *Power * Last_Vector;
                }else{
                    *Power = *Power * Last_Vector;
                }
                Last_Rad = rad;
                return;

            }else if((Last_Vector+2) == 3){
            /*正転のまま*/
                if(*Rad/180){
                    *Rad = -360 + *Rad ;
                    *Power = *Power * Last_Vector;
                }else{
                    *Power = *Power * Last_Vector;
                    Last_Rad = rad;
                }
                Last_Rad = rad;
                return;
            }
        }
    }
    /*通常動作*/
    Last_Vector = RadToVector[(*Rad-1)/90];
    *Rad = Angle[*Rad%180];
    *Power = *Power * Last_Vector;
    Last_Rad = rad;

}
int IrRad(){
 /*irの1位の値，2位の場所からirの360へ持っていく*/
 
    uint8_t IrF =IrData[0]/12,IrS = IrData[0]%12;
    int irrad;
    irrad = 359 - IrF*30;
        
    if(IrS){
        if(IrF == 0 ){
            if(IrS == 11){
                irrad = 15;
                
            }else{
                irrad = 345;    
            }
            
         }
        irrad = irrad - (IrF - IrS)*15;   
            
    }
    return irrad;
}


void IrFrontAction( uint8_t IrMemo[],double ReV)//ball 12 or 0 o-clock
{
    
}

void IrBackAction( uint8_t IrMemo[],double ReV)//ball found six o-clock
{
    /***
     * 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
     *
     **/
     char Ping[2]={0};
     
     //PingReceiveRL(Ping);
     
    
    if(IrMemo[0] == 6){//check ir number
        return ;
    }
    if(Ping[0]<Ping[1]){
        /*右が大きい*/
        
        
        return;
    }
    /*左が大きい*/
    
    

    }
    
void GoHome( uint8_t IrMemo[],double ReV)//Ball is not found.
{
    //止まっとく
    S555.position(0.0);

    move(0,0,ReV,0);

    /*line検知をしないバージョン*/
    /*
    char Ping[2] = {0};

     
    PingReceiveFB(Ping);
    if(Ping[1] >=60){//後ろからの距離60cm
        move(-20,-20,ReV);
        PingReceiveFB(Ping);
        return ;
    } 
        
    move(0,0,ReV);//stop
    */
}


void PidUpdate()
{   
    double inputPID = 0.0;
    
    Receive();
    
    pid.setSetPoint((int)((REFERENCE + SetAngle) / 1.0)); 
    inputPID = ((Compass / 10) + 540 - CompassDef) % 360;;
    
    pid.setProcessValue(inputPID);
    ReV =  -(pid.compute());
    
}







uint8_t SwRead(){
/******
 *retrun : sw_state
 *StartS = 0x01;
 *Debug2 = 0x02;
 *Debug1 = 0x04;
 *Debug3 = 0x06;
 *Kicker = 0x08;
 *Calibration = 0x10;

 *
 *****/
    uint8_t i,temp,temp2;
    temp = ~Sw - 224;
    if(!(temp == Kicker
       ||temp == Debug1
       ||temp == Debug2
       ||temp == Debug3
       ||temp == StartS)) return 0;/*スイッチが押されていない*/
    if(!(temp == 0x00)){
        for(i = 0; i < 50; i++);
        temp2 = ~Sw - 224;
        if(temp == temp2){
            return temp;
        }
    }
    return 0;
}

//通信（モータ用）
void tx_motor(){
    
    /*if(loop==3){
        speed[0]=0;
        speed[1]=0;
        speed[2]=0;
        speed[3]=0;
        Motor.printf("1F0002F0003F0004F000\r\n");       //モータ停止
    }else{
            Motor.printf("1F0202F0003F0204F000\r\n");
    }*/
    array(speed[0],speed[1],speed[3],speed[2]);
    Motor.printf("%s",StringFIN.c_str());
    S555.position(SetRad*11/9.0);
}

void SetUp(){
    /*初期化*/
    Motor.baud(115200);                             //ボーレート設定
    Motor.printf("1F0002F0003F0004F000\r\n");       //モータ停止
    Motor.attach(&tx_motor,Serial::TxIrq);          //送信空き割り込み（モータ用）
    

    S555.calibrate(0.0005, 120.0);
    S555.position(0.0);    //初期位置にセット
    move(0,0,0,0);//停止
    
    Kick = 0;
    Sw.mode(PullUp);
    
    pid.setInputLimits(MINIMUM,MAXIMUM);            //pid sed def
    pid.setOutputLimits(-OUT_LIMIT, OUT_LIMIT);     //pid sed def
    pid.setBias(PID_BIAS);                          //pid sed def
    pid.setMode(AUTO_MODE);                         //pid sed def
    pid.setSetPoint(REFERENCE);                     //pid sed def  
    
    for(int i=0; i<15; i++){
      wait_ms(10);
      Receive();
      CompassDef = (Compass / 10);
      PidUpdate();
    }
    
}
void StartLoop(){

     uint8_t State = 0;
     uint8_t LineData = 0;
     
     while(1){
        Led[0] = Led[1] = Led[2] = Led[3] = 1;
        //Lcd.cls();
        State = SwRead();
        if(State == 0) continue;
        
        if(State == StartS){
            loop=0;
            return;
            /*loop end & start*/ 
        }
        
        if(State == Debug1){
            while((State == Debug1)){
                LineData = (~Line+0x00) & 0x0F;
                Lcd.printf("%d\n",LineData);
                
                wait_ms(100); 
                State = SwRead();
            }   
            Lcd.cls(); 
            continue;
            
        }
        if(State == Debug2){
             while((State == Debug2)){
                
                Receive();
                
                Lcd.printf("%d\n",IrNum);
                wait_ms(100);
                State = SwRead();
             }
             Lcd.cls();
             continue;
        }

        if(State == Debug3){
            while((State == Debug3)){
                
                Receive();
                
                Lcd.printf("%d\n",((Compass / 10) + 540 - CompassDef) % 360);
                
                wait_ms(100);
                State = SwRead(); 
            }   
            Lcd.cls(); 
            continue;
        }
        
        if(State == Kicker){
            Led[0] = Led[1] = Led[2] = 0;
            /*move(20,20,0,0);
            while((State == Kicker)){
                wait_ms(100); 
                State = SwRead();
                
            }   
            move(0,0,0,0);
            */
            continue;   
        }
    } 
    
}

void CompassFB(){
    
    for(int i=1; i<=18; i++){
        if(abs(REFERENCE - Compass) <=   i*10){
            ReV = (i-1)*2;
            if(Compass > REFERENCE){
                ReV = ReV*(-1);
            }
            break;
        }
    }
}

int main() {
    
    /*Ir*/
    //→.h
    /*Line*/
    uint8_t LineData = 0;
    

    /*PID補正move加算値 Revise */
    //double ReV = 0.0;→global
    //double SetC;
    
    /*State */ 
    //uint8_t LineIr = 0;
    //uint8_t IrChange[13] ={0x01,0x01,0x02,0x02,0x02,0x04,
    //                        0x04,0x04,0x08,0x08,0x08,0x01,0x00};
    /*行動設定*/
    int Power = 0;
    int Rad = 0;//
    
    
    /*楽しい変数達*/
    int nRad =0;//基礎角
    int addRad = 0;//追加角
    
    
    
    /*関数ポインタ*/
    /*
    void (*AnotherAction[3])(uint8_t [],double);
    AnotherAction[0] = IrFrontAction;
    AnotherAction[1] = IrBackAction;
    AnotherAction[2] = GoHome;
    */
    
    loop=1;
    
    Mbed.read_data(rx_data, ADDRESS, DATA_NUM);
    Mbed.start_read();
    
    SetUp();/*set up routine*/
    
    StartLoop(); /*loop strat, switch push end*/
    
    loop=0;
    
    //Monitor.attach(CompassFB, 0.1);
    
    while(0){
         Power = 0;
         Led[0] = 1;
         Rad = 0;
         ReV = 0;
         //SetC = 0.0;
         
         Receive();
         
        /*白線を読んでいないか確認する*/
        LineData = (~Line+0x00) & 0x0F; 
        if(LineData){
            while(LineData){
                move(0,0,0,0);//
                Led[1] = Led[2] = Led[3] = 1;  
                LineData = (~Line+0x00) & 0x0F;
                wait_ms(10);          
            }
            Led[1] = Led[2] = Led[3] = 0;
            
        }
        
        
        Led[3] = 1;
        
        /*if(IrNum == 12){
            move(0,0,ReV,Rad);
            continue;
        }*/

        //Rad = IrRad();
        //nRad = wrapRad[Rad/15];
        Power = 20;
    
    
        //Rad = nRad + addRad;
        
        //fool(&Rad,&Power);
        move(Power,Power,ReV,Rad);
        
        wait_ms(10);
        
        Led[0] =0;

        
    }
    
    
    while(1){
        
        //デモプログラム
        Receive();
        wait_ms(50);
    }
    
    
    
    
}