![](/media/cache/group/default_image.jpg.50x50_q85.jpg)
Main Program
Dependencies: mbed AQM1602 HMC6352 PID
main_processing/strategy/strategy.cpp
- Committer:
- lilac0112_1
- Date:
- 2016-02-02
- Revision:
- 31:0b0f64831771
- Parent:
- 30:26070ba1f21f
- Child:
- 34:69bdf29a4442
File content as of revision 31:0b0f64831771:
#include "mbed.h" #include "extern.h" //Atk void modeAttack0(void){ double ir_x, ir_y; int vx,vy,vs; uint8_t LineDir[4]; uint8_t LineStop[2]; //uint8_t IrRange[4]; //uint8_t LineBind[4]; if(data.IrFlag==1){ ReadIr(); data.IrFlag=0; } if(data.PidFlag==1){ Line_ticker.detach(); PidUpdate(); Line_ticker.attach(&ReadLine, 0.005); data.PidFlag=0; } ir_x = ir_move_val[data.irNotice][data.irPosition][IR_X]; ir_y = ir_move_val[data.irNotice][data.irPosition][IR_Y]; if(data.irPosition<8){ ir_x *= data.l_pow; ir_y *= data.l_pow; } else{ ir_x *= data.s_pow; ir_y *= data.s_pow; } //Lineを考慮していないIrのみの値 vx = ir_x; vy = ir_y; //Line検出方向を調べる LineDir[A_SPOT] = (!((vx>0)&&((data.lnFlag[A_SPOT]==1)&&(data.lnFlag[B_SPOT]==0)))); LineDir[B_SPOT] = (!((vx<0)&&((data.lnFlag[A_SPOT]==0)&&(data.lnFlag[B_SPOT]==1)))); LineDir[C_SPOT] = (!((vy<0)&&((data.lnFlag[C_SPOT]==1)&&(1)))); LineDir[AB_SPOT] = (!((vy>0)&&((data.lnFlag[A_SPOT]==1)&&(data.lnFlag[B_SPOT]==1)))); LineStop[X_AXIS] = LineDir[A_SPOT]*LineDir[B_SPOT]; LineStop[Y_AXIS] = LineDir[C_SPOT]*LineDir[AB_SPOT]; //Ir /* //ForLineAll data.motorlog[X_AXIS] *= LineStop[X_AXIS]; data.motorlog[Y_AXIS] *= LineStop[Y_AXIS]; data.motorlog[X_AXIS] += vx; data.motorlog[Y_AXIS] += vy; */ move( vx*LineStop[X_AXIS] + (LINE_RF)*(vy!=0)*((-1)*(LineDir[A_SPOT]==0) + (LineDir[B_SPOT]==0)), vy*LineStop[Y_AXIS] + (LINE_RF)*(vx!=0)*((LineDir[C_SPOT]==0) + (-1)*(LineDir[AB_SPOT]==0)), vs ); if(data.MotorFlag==1){ tx_motor(); data.MotorFlag=0; } return; } void modeAttack1(void){ double ir_x, ir_y; int vx,vy,vs; uint8_t LineDir[4]; uint8_t LineStop[2]; //uint8_t IrRange[4]; //uint8_t LineBind[4]; if(data.IrFlag==1){ ReadIr(); data.IrFlag=0; } if(data.PidFlag==1){ Line_ticker.detach(); PidUpdate(); Line_ticker.attach(&ReadLine, 0.005); data.PidFlag=0; } ir_x = ir_move_val[data.irNotice][data.irPosition][IR_X]; ir_y = ir_move_val[data.irNotice][data.irPosition][IR_Y]; if(data.irPosition<8){ ir_x *= data.l_pow; ir_y *= data.l_pow; } else{ ir_x *= data.s_pow; ir_y *= data.s_pow; } //Lineを考慮していないIrのみの値 vx = ir_x; vy = ir_y; //Line検出方向を調べる LineDir[A_SPOT] = (!((vx>0)&&((data.lnFlag[A_SPOT]==1)&&(data.lnFlag[B_SPOT]==0)))); LineDir[B_SPOT] = (!((vx<0)&&((data.lnFlag[A_SPOT]==0)&&(data.lnFlag[B_SPOT]==1)))); LineDir[C_SPOT] = (!((vy<0)&&((data.lnFlag[C_SPOT]==1)&&(1)))); LineDir[AB_SPOT] = (!((vy>0)&&((data.lnFlag[A_SPOT]==1)&&(data.lnFlag[B_SPOT]==1)))); LineStop[X_AXIS] = LineDir[A_SPOT]*LineDir[B_SPOT]; LineStop[Y_AXIS] = LineDir[C_SPOT]*LineDir[AB_SPOT]; if(data.IrFlag==1){ ReadIr(); data.IrFlag=0; } if(data.PidFlag==1){ PidUpdate(); data.PidFlag=0; } vs = data.OutputPID; move( vx*LineStop[X_AXIS] + (LINE_RF)*(vy!=0)*((-1)*(LineDir[A_SPOT]==0) + (LineDir[B_SPOT]==0)), vy*LineStop[Y_AXIS] + (LINE_RF)*(vx!=0)*((LineDir[C_SPOT]==0) + (-1)*(LineDir[AB_SPOT]==0)), vs ); if(data.MotorFlag==1){ tx_motor(); data.MotorFlag=0; } return; } void modeAttack2(void){ return; } void modeAttack3(void){ return; } void modeAttack4(void){ return; } void modeAttack5(void){ return; } //Debug void modeDebug0(void){ return; } void modeDebug1(void){//ChaseOnly NonLine int vx,vy,vs; if(data.IrFlag==1){ ReadIr(); data.IrFlag=0; } if(data.PidFlag==1){ PidUpdate(); data.PidFlag=0; } vx = ir_move_val[data.irNotice][data.irPosition][IR_X]; vy = ir_move_val[data.irNotice][data.irPosition][IR_Y]; vs = data.OutputPID; if(data.irPosition<8){ vx *= data.l_pow; vy *= data.l_pow; } else{ vx *= data.s_pow; vy *= data.s_pow; } move(vx, vy, vs); if(data.MotorFlag==1){ tx_motor(); data.MotorFlag=0; } return; } void modeDebug2(void){//LineRestoringForce int vx,vy,vs; uint8_t LineStop[2]; int LineForce[2]; if(data.IrFlag==1){ ReadIr(); data.IrFlag=0; } if(data.PidFlag==1){ PidUpdate(); data.PidFlag=0; } vx = ir_move_val[data.irNotice][data.irPosition][IR_X]; vy = ir_move_val[data.irNotice][data.irPosition][IR_Y]; vs = data.OutputPID; if(data.irPosition<8){ vx *= data.l_pow; vy *= data.l_pow; } else{ vx *= data.s_pow; vy *= data.s_pow; } LineStop[X_AXIS] = (!((vx>0)&&((data.lnFlag[A_SPOT]==1)&&(1))))*(!((vx<0)&&((data.lnFlag[B_SPOT]==1)&&(1)))); LineStop[Y_AXIS] = (!((vy>0)&&((data.lnFlag[A_SPOT]==1)&&(data.lnFlag[B_SPOT]==1))))*(!((vy<0)&&((data.lnFlag[C_SPOT]==1)&&(1)))); LineForce[X_AXIS] = LineForce[Y_AXIS] = 0; if(((vx>0)&&((data.lnFlag[A_SPOT]==1)&&(1)))){ LineForce[X_AXIS] = -LINE_RF; } if(((vx<0)&&((data.lnFlag[B_SPOT]==1)&&(1)))){ LineForce[X_AXIS] = LINE_RF; } if(((vy>0)&&((data.lnFlag[A_SPOT]==1)&&(data.lnFlag[B_SPOT]==1)))){ LineForce[Y_AXIS] = -LINE_RF; } if(((vy<0)&&((data.lnFlag[C_SPOT]==1)&&(1)))){ LineForce[Y_AXIS] = LINE_RF; } move( vx*LineStop[X_AXIS] + LineForce[X_AXIS], vy*LineStop[Y_AXIS] + LineForce[Y_AXIS], vs ); if(data.MotorFlag==1){ tx_motor(); data.MotorFlag=0; } return; } void modeDebug3(void){//movesum int vx,vy,vs; uint8_t LineStop[2]; static uint8_t moveLnFlag[4]={1, 1, 1, 1}; static int moveLnlog[4]; if(data.IrFlag==1){ ReadIr(); data.IrFlag=0; } if(data.PidFlag==1){ PidUpdate(); data.PidFlag=0; } vx = ir_move_val[data.irNotice][data.irPosition][IR_X]; vy = ir_move_val[data.irNotice][data.irPosition][IR_Y]; vs = data.OutputPID; if(data.irPosition<8){ vx *= data.l_pow; vy *= data.l_pow; } else{ vx *= data.s_pow; vy *= data.s_pow; } data.motorlog[X_AXIS] += vx; data.motorlog[Y_AXIS] += vy; if((data.lnFlag[A_SPOT]==1)&&(1)){ moveLnFlag[A_SPOT]=0; moveLnlog[A_SPOT] = data.motorlog[X_AXIS]; } if((data.lnFlag[B_SPOT]==1)&&(1)){ moveLnFlag[B_SPOT]=0; moveLnlog[B_SPOT] = data.motorlog[X_AXIS]; } if((data.lnFlag[C_SPOT]==1)&&(1)){ moveLnFlag[C_SPOT]=0; moveLnlog[C_SPOT] = data.motorlog[Y_AXIS]; } if((data.lnFlag[A_SPOT]==1)&&(data.lnFlag[B_SPOT]==1)){ moveLnFlag[AB_SPOT]=0; moveLnlog[AB_SPOT] = data.motorlog[Y_AXIS]; } if(((data.motorlog[X_AXIS]-moveLnlog[A_SPOT])<(-RELEASE_VAL))&&(moveLnFlag[A_SPOT]==0)) moveLnFlag[A_SPOT]=1; if(((data.motorlog[X_AXIS]-moveLnlog[B_SPOT])>(RELEASE_VAL))&&(moveLnFlag[B_SPOT]==0)) moveLnFlag[B_SPOT]=1; if(((data.motorlog[Y_AXIS]-moveLnlog[C_SPOT])>(RELEASE_VAL))&&(moveLnFlag[C_SPOT]==0)) moveLnFlag[C_SPOT]=1; if(((data.motorlog[Y_AXIS]-moveLnlog[AB_SPOT])<(-RELEASE_VAL))&&(moveLnFlag[AB_SPOT]==0)) moveLnFlag[AB_SPOT]=1; LineStop[X_AXIS] = (!((vx>0)&&(moveLnFlag[A_SPOT]==0)))*(!((vx<0)&&(moveLnFlag[B_SPOT]==0))); LineStop[Y_AXIS] = (!((vy>0)&&(moveLnFlag[C_SPOT]==0)))*(!((vy<0)&&(moveLnFlag[AB_SPOT]==0))); move( vx*LineStop[X_AXIS], vy*LineStop[Y_AXIS], vs ); if(data.MotorFlag==1){ tx_motor(); data.MotorFlag=0; } return; } void modeDebug4(void){//solenoid if(data.KickFlag==1){ DriveSolenoid(); } return; } void modeDebug5(void){//cmpsTest if(data.IrFlag==1){ ReadIr(); data.IrFlag=0; } if(data.PidFlag==1){ PidUpdate(); data.PidFlag=0; } move(0,0,data.OutputPID); if(data.MotorFlag==1){ tx_motor(); data.MotorFlag=0; } return; }