![](/media/cache/group/default_image.jpg.50x50_q85.jpg)
Main Program
Dependencies: mbed AQM1602 HMC6352 PID
main_processing/setup_command_active/setup.cpp@45:c23f25c00d0d, 2016-02-25 (annotated)
- Committer:
- lilac0112_1
- Date:
- Thu Feb 25 06:12:47 2016 +0000
- Revision:
- 45:c23f25c00d0d
- Parent:
- 43:f11f68918299
Hokushinetsu(20:1)
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
lilac0112_1 | 19:342da3a5a474 | 1 | #include "mbed.h" |
lilac0112_1 | 19:342da3a5a474 | 2 | #include "extern.h" |
lilac0112_1 | 19:342da3a5a474 | 3 | |
lilac0112_1 | 19:342da3a5a474 | 4 | |
lilac0112_1 | 19:342da3a5a474 | 5 | void SetUp(void){//電源を入れた時の処理 |
lilac0112_1 | 19:342da3a5a474 | 6 | //int i=1; |
lilac0112_1 | 34:69bdf29a4442 | 7 | //solenoid |
lilac0112_1 | 34:69bdf29a4442 | 8 | kicker=0; |
lilac0112_1 | 19:342da3a5a474 | 9 | //sw&lcd |
lilac0112_1 | 19:342da3a5a474 | 10 | Sw[0].mode(PullUp); |
lilac0112_1 | 19:342da3a5a474 | 11 | Sw[1].mode(PullUp); |
lilac0112_1 | 19:342da3a5a474 | 12 | Sw[2].mode(PullUp); |
lilac0112_1 | 19:342da3a5a474 | 13 | Sw[3].mode(PullUp); |
lilac0112_1 | 24:9fb74ea3c25d | 14 | Sw_ticker.attach(Sw_sample, 0.050); |
lilac0112_1 | 22:a95f7c63af3c | 15 | |
lilac0112_1 | 19:342da3a5a474 | 16 | Lcd.cls(); |
lilac0112_1 | 19:342da3a5a474 | 17 | Lcd.print(lcdstr[0][0]); |
lilac0112_1 | 19:342da3a5a474 | 18 | |
lilac0112_1 | 19:342da3a5a474 | 19 | //ball |
lilac0112_1 | 19:342da3a5a474 | 20 | BallChecker.mode(PullUp); |
lilac0112_1 | 19:342da3a5a474 | 21 | |
lilac0112_1 | 19:342da3a5a474 | 22 | //value |
lilac0112_1 | 22:a95f7c63af3c | 23 | data.strategy = 0; |
lilac0112_1 | 24:9fb74ea3c25d | 24 | data.motorlog[X_AXIS] = 0; |
lilac0112_1 | 24:9fb74ea3c25d | 25 | data.motorlog[Y_AXIS] = 0; |
lilac0112_1 | 38:a7eb15b1f813 | 26 | data.s_pow=30; |
lilac0112_1 | 38:a7eb15b1f813 | 27 | data.l_pow=30; |
lilac0112_1 | 19:342da3a5a474 | 28 | |
lilac0112_1 | 19:342da3a5a474 | 29 | //spi |
lilac0112_1 | 21:d69a8f3c76e1 | 30 | spi.format(16, 3); |
lilac0112_1 | 21:d69a8f3c76e1 | 31 | spi.frequency(1000000); |
lilac0112_1 | 21:d69a8f3c76e1 | 32 | spi_ss[0]=spi_ss[1]=spi_ss[2]=spi_ss[3]=1; |
lilac0112_1 | 19:342da3a5a474 | 33 | |
lilac0112_1 | 19:342da3a5a474 | 34 | //motor |
lilac0112_1 | 22:a95f7c63af3c | 35 | motor.baud(115200); //ボーレート設定 |
lilac0112_1 | 22:a95f7c63af3c | 36 | motor.printf("1F0002F0003F0004F000\r\n"); //モータ停止 |
lilac0112_1 | 19:342da3a5a474 | 37 | //motor.attach(&tx_motor,Serial::TxIrq); //送信空き割り込み(モータ用) |
lilac0112_1 | 42:02aaa806d929 | 38 | //compass |
lilac0112_1 | 42:02aaa806d929 | 39 | RN42_Reset=0; |
lilac0112_1 | 19:342da3a5a474 | 40 | for(int i=0; i<5; i++){ |
lilac0112_1 | 22:a95f7c63af3c | 41 | ReadCmps(); |
lilac0112_1 | 21:d69a8f3c76e1 | 42 | data.CmpsInitialValue = data.cmps; |
lilac0112_1 | 21:d69a8f3c76e1 | 43 | wait_ms(10); |
lilac0112_1 | 19:342da3a5a474 | 44 | } |
lilac0112_1 | 23:d95d8d3e89f3 | 45 | data.CmpsDiff = REFERENCE - data.cmps; |
lilac0112_1 | 21:d69a8f3c76e1 | 46 | data.FrontDeg=0; |
lilac0112_1 | 19:342da3a5a474 | 47 | |
lilac0112_1 | 24:9fb74ea3c25d | 48 | pid.setInputLimits(MINIMUM,MAXIMUM); //pid sed def |
lilac0112_1 | 24:9fb74ea3c25d | 49 | pid.setOutputLimits(-OUT_LIMIT, OUT_LIMIT); //pid sed def |
lilac0112_1 | 24:9fb74ea3c25d | 50 | pid.setBias(PID_BIAS); //pid sed def |
lilac0112_1 | 24:9fb74ea3c25d | 51 | pid.setMode(AUTO_MODE); //pid sed def |
lilac0112_1 | 24:9fb74ea3c25d | 52 | pid.setSetPoint(REFERENCE); //pid sed def |
lilac0112_1 | 19:342da3a5a474 | 53 | //pidupdate.attach(&PidUpdate, PID_CYCLE); |
lilac0112_1 | 19:342da3a5a474 | 54 | } |
lilac0112_1 | 19:342da3a5a474 | 55 | void SetUp2(void){//スタートした時の処理 |
lilac0112_1 | 43:f11f68918299 | 56 | |
lilac0112_1 | 43:f11f68918299 | 57 | __enable_irq(); // 許可 |
lilac0112_1 | 43:f11f68918299 | 58 | |
lilac0112_1 | 34:69bdf29a4442 | 59 | data.KickOffFlag=1; |
lilac0112_1 | 34:69bdf29a4442 | 60 | data.KickFlag=0; |
lilac0112_1 | 34:69bdf29a4442 | 61 | //solenoid |
lilac0112_1 | 34:69bdf29a4442 | 62 | kicker=0; |
lilac0112_1 | 42:02aaa806d929 | 63 | //motorsum |
lilac0112_1 | 24:9fb74ea3c25d | 64 | data.motorlog[X_AXIS] = 0; |
lilac0112_1 | 24:9fb74ea3c25d | 65 | data.motorlog[Y_AXIS] = 0; |
lilac0112_1 | 42:02aaa806d929 | 66 | //compass |
lilac0112_1 | 42:02aaa806d929 | 67 | RN42_Reset=0; |
lilac0112_1 | 24:9fb74ea3c25d | 68 | for(int i=0; i<5; i++){ |
lilac0112_1 | 24:9fb74ea3c25d | 69 | ReadCmps(); |
lilac0112_1 | 24:9fb74ea3c25d | 70 | data.CmpsInitialValue = data.cmps; |
lilac0112_1 | 24:9fb74ea3c25d | 71 | wait_ms(10); |
lilac0112_1 | 24:9fb74ea3c25d | 72 | } |
lilac0112_1 | 24:9fb74ea3c25d | 73 | data.CmpsDiff = REFERENCE - data.cmps; |
lilac0112_1 | 24:9fb74ea3c25d | 74 | data.FrontDeg=0; |
lilac0112_1 | 31:0b0f64831771 | 75 | |
lilac0112_1 | 41:3cdcdec9c885 | 76 | //Line_ticker.attach(&ReadLine, 0.005); |
lilac0112_1 | 41:3cdcdec9c885 | 77 | Line[A_SPOT].rise(&LineCall_A); |
lilac0112_1 | 41:3cdcdec9c885 | 78 | Line[B_SPOT].rise(&LineCall_B); |
lilac0112_1 | 41:3cdcdec9c885 | 79 | Line[C_SPOT].rise(&LineCall_C); |
lilac0112_1 | 45:c23f25c00d0d | 80 | Solenoid_ticker.attach(&AvailableSolenoid, 6.0); |
lilac0112_1 | 24:9fb74ea3c25d | 81 | Ir_ticker.attach(&ValidIr, 0.050); |
lilac0112_1 | 43:f11f68918299 | 82 | Ping_ticker.attach(&ValidPing, 0.050); |
lilac0112_1 | 42:02aaa806d929 | 83 | //Hmc_ticker.attach(&HmcReset, 1.0); |
lilac0112_1 | 24:9fb74ea3c25d | 84 | //motor.attach(&tx_motor,Serial::TxIrq); //送信空き割り込み(モータ用) |
lilac0112_1 | 27:769cb5a7ea37 | 85 | Motor_ticker.attach(&ValidTx_motor, 0.020); |
lilac0112_1 | 27:769cb5a7ea37 | 86 | pidupdate.attach(&ValidPidUpdate, PID_CYCLE); |
lilac0112_1 | 19:342da3a5a474 | 87 | } |
lilac0112_1 | 19:342da3a5a474 | 88 | void StopProcess(void){//コマンドに戻るときの処理 |
lilac0112_1 | 24:9fb74ea3c25d | 89 | pidupdate.detach(); |
lilac0112_1 | 24:9fb74ea3c25d | 90 | Motor_ticker.detach(); |
lilac0112_1 | 45:c23f25c00d0d | 91 | ////Line_ticker.detach(); |
lilac0112_1 | 45:c23f25c00d0d | 92 | Solenoid_ticker.detach(); |
lilac0112_1 | 24:9fb74ea3c25d | 93 | Ir_ticker.detach(); |
lilac0112_1 | 43:f11f68918299 | 94 | Ping_ticker.detach(); |
lilac0112_1 | 45:c23f25c00d0d | 95 | ////Hmc_ticker.detach(); |
lilac0112_1 | 24:9fb74ea3c25d | 96 | motor.printf("1F0002F0003F0004F000\r\n"); //モータ停止 |
lilac0112_1 | 24:9fb74ea3c25d | 97 | move(0,0,0); |
lilac0112_1 | 27:769cb5a7ea37 | 98 | data.OutputPID=0; |
lilac0112_1 | 27:769cb5a7ea37 | 99 | data.InputPID=REFERENCE; |
lilac0112_1 | 34:69bdf29a4442 | 100 | //solenoid |
lilac0112_1 | 45:c23f25c00d0d | 101 | kicker=1; |
lilac0112_1 | 45:c23f25c00d0d | 102 | wait(0.25); |
lilac0112_1 | 34:69bdf29a4442 | 103 | kicker=0; |
lilac0112_1 | 43:f11f68918299 | 104 | |
lilac0112_1 | 43:f11f68918299 | 105 | __disable_irq(); // 禁止 |
lilac0112_1 | 43:f11f68918299 | 106 | __enable_irq(); // 許可 |
lilac0112_1 | 43:f11f68918299 | 107 | Sw_ticker.attach(Sw_sample, 0.050); |
lilac0112_1 | 43:f11f68918299 | 108 | |
lilac0112_1 | 19:342da3a5a474 | 109 | } |