![](/media/cache/group/default_image.jpg.50x50_q85.jpg)
Main Program
Dependencies: mbed AQM1602 HMC6352 PID
main_processing/strategy/strategy.cpp@31:0b0f64831771, 2016-02-02 (annotated)
- Committer:
- lilac0112_1
- Date:
- Tue Feb 02 04:07:06 2016 +0000
- Revision:
- 31:0b0f64831771
- Parent:
- 30:26070ba1f21f
- Child:
- 34:69bdf29a4442
goodline
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 | 21:d69a8f3c76e1 | 4 | //Atk |
lilac0112_1 | 21:d69a8f3c76e1 | 5 | void modeAttack0(void){ |
lilac0112_1 | 28:8ac6c3c1e643 | 6 | double ir_x, ir_y; |
lilac0112_1 | 27:769cb5a7ea37 | 7 | int vx,vy,vs; |
lilac0112_1 | 28:8ac6c3c1e643 | 8 | uint8_t LineDir[4]; |
lilac0112_1 | 27:769cb5a7ea37 | 9 | uint8_t LineStop[2]; |
lilac0112_1 | 31:0b0f64831771 | 10 | //uint8_t IrRange[4]; |
lilac0112_1 | 31:0b0f64831771 | 11 | //uint8_t LineBind[4]; |
lilac0112_1 | 28:8ac6c3c1e643 | 12 | if(data.IrFlag==1){ |
lilac0112_1 | 28:8ac6c3c1e643 | 13 | ReadIr(); |
lilac0112_1 | 28:8ac6c3c1e643 | 14 | data.IrFlag=0; |
lilac0112_1 | 28:8ac6c3c1e643 | 15 | } |
lilac0112_1 | 28:8ac6c3c1e643 | 16 | if(data.PidFlag==1){ |
lilac0112_1 | 28:8ac6c3c1e643 | 17 | Line_ticker.detach(); |
lilac0112_1 | 28:8ac6c3c1e643 | 18 | PidUpdate(); |
lilac0112_1 | 28:8ac6c3c1e643 | 19 | Line_ticker.attach(&ReadLine, 0.005); |
lilac0112_1 | 28:8ac6c3c1e643 | 20 | data.PidFlag=0; |
lilac0112_1 | 28:8ac6c3c1e643 | 21 | } |
lilac0112_1 | 28:8ac6c3c1e643 | 22 | ir_x = ir_move_val[data.irNotice][data.irPosition][IR_X]; |
lilac0112_1 | 28:8ac6c3c1e643 | 23 | ir_y = ir_move_val[data.irNotice][data.irPosition][IR_Y]; |
lilac0112_1 | 28:8ac6c3c1e643 | 24 | if(data.irPosition<8){ |
lilac0112_1 | 28:8ac6c3c1e643 | 25 | ir_x *= data.l_pow; |
lilac0112_1 | 28:8ac6c3c1e643 | 26 | ir_y *= data.l_pow; |
lilac0112_1 | 28:8ac6c3c1e643 | 27 | } |
lilac0112_1 | 28:8ac6c3c1e643 | 28 | else{ |
lilac0112_1 | 28:8ac6c3c1e643 | 29 | ir_x *= data.s_pow; |
lilac0112_1 | 28:8ac6c3c1e643 | 30 | ir_y *= data.s_pow; |
lilac0112_1 | 28:8ac6c3c1e643 | 31 | } |
lilac0112_1 | 29:b413b0bb07a1 | 32 | //Lineを考慮していないIrのみの値 |
lilac0112_1 | 29:b413b0bb07a1 | 33 | vx = ir_x; |
lilac0112_1 | 29:b413b0bb07a1 | 34 | vy = ir_y; |
lilac0112_1 | 29:b413b0bb07a1 | 35 | //Line検出方向を調べる |
lilac0112_1 | 28:8ac6c3c1e643 | 36 | LineDir[A_SPOT] = (!((vx>0)&&((data.lnFlag[A_SPOT]==1)&&(data.lnFlag[B_SPOT]==0)))); |
lilac0112_1 | 28:8ac6c3c1e643 | 37 | LineDir[B_SPOT] = (!((vx<0)&&((data.lnFlag[A_SPOT]==0)&&(data.lnFlag[B_SPOT]==1)))); |
lilac0112_1 | 28:8ac6c3c1e643 | 38 | LineDir[C_SPOT] = (!((vy<0)&&((data.lnFlag[C_SPOT]==1)&&(1)))); |
lilac0112_1 | 28:8ac6c3c1e643 | 39 | LineDir[AB_SPOT] = (!((vy>0)&&((data.lnFlag[A_SPOT]==1)&&(data.lnFlag[B_SPOT]==1)))); |
lilac0112_1 | 28:8ac6c3c1e643 | 40 | |
lilac0112_1 | 28:8ac6c3c1e643 | 41 | LineStop[X_AXIS] = LineDir[A_SPOT]*LineDir[B_SPOT]; |
lilac0112_1 | 28:8ac6c3c1e643 | 42 | LineStop[Y_AXIS] = LineDir[C_SPOT]*LineDir[AB_SPOT]; |
lilac0112_1 | 28:8ac6c3c1e643 | 43 | |
lilac0112_1 | 31:0b0f64831771 | 44 | //Ir |
lilac0112_1 | 29:b413b0bb07a1 | 45 | /* |
lilac0112_1 | 29:b413b0bb07a1 | 46 | //ForLineAll |
lilac0112_1 | 29:b413b0bb07a1 | 47 | data.motorlog[X_AXIS] *= LineStop[X_AXIS]; |
lilac0112_1 | 29:b413b0bb07a1 | 48 | data.motorlog[Y_AXIS] *= LineStop[Y_AXIS]; |
lilac0112_1 | 29:b413b0bb07a1 | 49 | data.motorlog[X_AXIS] += vx; |
lilac0112_1 | 29:b413b0bb07a1 | 50 | data.motorlog[Y_AXIS] += vy; |
lilac0112_1 | 29:b413b0bb07a1 | 51 | */ |
lilac0112_1 | 28:8ac6c3c1e643 | 52 | move( |
lilac0112_1 | 29:b413b0bb07a1 | 53 | vx*LineStop[X_AXIS] + (LINE_RF)*(vy!=0)*((-1)*(LineDir[A_SPOT]==0) + (LineDir[B_SPOT]==0)), |
lilac0112_1 | 29:b413b0bb07a1 | 54 | vy*LineStop[Y_AXIS] + (LINE_RF)*(vx!=0)*((LineDir[C_SPOT]==0) + (-1)*(LineDir[AB_SPOT]==0)), |
lilac0112_1 | 28:8ac6c3c1e643 | 55 | vs |
lilac0112_1 | 28:8ac6c3c1e643 | 56 | ); |
lilac0112_1 | 28:8ac6c3c1e643 | 57 | if(data.MotorFlag==1){ |
lilac0112_1 | 28:8ac6c3c1e643 | 58 | tx_motor(); |
lilac0112_1 | 28:8ac6c3c1e643 | 59 | data.MotorFlag=0; |
lilac0112_1 | 28:8ac6c3c1e643 | 60 | } |
lilac0112_1 | 28:8ac6c3c1e643 | 61 | return; |
lilac0112_1 | 28:8ac6c3c1e643 | 62 | } |
lilac0112_1 | 28:8ac6c3c1e643 | 63 | void modeAttack1(void){ |
lilac0112_1 | 31:0b0f64831771 | 64 | double ir_x, ir_y; |
lilac0112_1 | 31:0b0f64831771 | 65 | int vx,vy,vs; |
lilac0112_1 | 31:0b0f64831771 | 66 | uint8_t LineDir[4]; |
lilac0112_1 | 31:0b0f64831771 | 67 | uint8_t LineStop[2]; |
lilac0112_1 | 31:0b0f64831771 | 68 | //uint8_t IrRange[4]; |
lilac0112_1 | 31:0b0f64831771 | 69 | //uint8_t LineBind[4]; |
lilac0112_1 | 31:0b0f64831771 | 70 | if(data.IrFlag==1){ |
lilac0112_1 | 31:0b0f64831771 | 71 | ReadIr(); |
lilac0112_1 | 31:0b0f64831771 | 72 | data.IrFlag=0; |
lilac0112_1 | 31:0b0f64831771 | 73 | } |
lilac0112_1 | 31:0b0f64831771 | 74 | if(data.PidFlag==1){ |
lilac0112_1 | 31:0b0f64831771 | 75 | Line_ticker.detach(); |
lilac0112_1 | 31:0b0f64831771 | 76 | PidUpdate(); |
lilac0112_1 | 31:0b0f64831771 | 77 | Line_ticker.attach(&ReadLine, 0.005); |
lilac0112_1 | 31:0b0f64831771 | 78 | data.PidFlag=0; |
lilac0112_1 | 31:0b0f64831771 | 79 | } |
lilac0112_1 | 31:0b0f64831771 | 80 | ir_x = ir_move_val[data.irNotice][data.irPosition][IR_X]; |
lilac0112_1 | 31:0b0f64831771 | 81 | ir_y = ir_move_val[data.irNotice][data.irPosition][IR_Y]; |
lilac0112_1 | 31:0b0f64831771 | 82 | if(data.irPosition<8){ |
lilac0112_1 | 31:0b0f64831771 | 83 | ir_x *= data.l_pow; |
lilac0112_1 | 31:0b0f64831771 | 84 | ir_y *= data.l_pow; |
lilac0112_1 | 31:0b0f64831771 | 85 | } |
lilac0112_1 | 31:0b0f64831771 | 86 | else{ |
lilac0112_1 | 31:0b0f64831771 | 87 | ir_x *= data.s_pow; |
lilac0112_1 | 31:0b0f64831771 | 88 | ir_y *= data.s_pow; |
lilac0112_1 | 31:0b0f64831771 | 89 | } |
lilac0112_1 | 31:0b0f64831771 | 90 | |
lilac0112_1 | 31:0b0f64831771 | 91 | //Lineを考慮していないIrのみの値 |
lilac0112_1 | 31:0b0f64831771 | 92 | vx = ir_x; |
lilac0112_1 | 31:0b0f64831771 | 93 | vy = ir_y; |
lilac0112_1 | 31:0b0f64831771 | 94 | //Line検出方向を調べる |
lilac0112_1 | 31:0b0f64831771 | 95 | LineDir[A_SPOT] = (!((vx>0)&&((data.lnFlag[A_SPOT]==1)&&(data.lnFlag[B_SPOT]==0)))); |
lilac0112_1 | 31:0b0f64831771 | 96 | LineDir[B_SPOT] = (!((vx<0)&&((data.lnFlag[A_SPOT]==0)&&(data.lnFlag[B_SPOT]==1)))); |
lilac0112_1 | 31:0b0f64831771 | 97 | LineDir[C_SPOT] = (!((vy<0)&&((data.lnFlag[C_SPOT]==1)&&(1)))); |
lilac0112_1 | 31:0b0f64831771 | 98 | LineDir[AB_SPOT] = (!((vy>0)&&((data.lnFlag[A_SPOT]==1)&&(data.lnFlag[B_SPOT]==1)))); |
lilac0112_1 | 31:0b0f64831771 | 99 | |
lilac0112_1 | 31:0b0f64831771 | 100 | LineStop[X_AXIS] = LineDir[A_SPOT]*LineDir[B_SPOT]; |
lilac0112_1 | 31:0b0f64831771 | 101 | LineStop[Y_AXIS] = LineDir[C_SPOT]*LineDir[AB_SPOT]; |
lilac0112_1 | 31:0b0f64831771 | 102 | |
lilac0112_1 | 31:0b0f64831771 | 103 | if(data.IrFlag==1){ |
lilac0112_1 | 31:0b0f64831771 | 104 | ReadIr(); |
lilac0112_1 | 31:0b0f64831771 | 105 | data.IrFlag=0; |
lilac0112_1 | 31:0b0f64831771 | 106 | } |
lilac0112_1 | 31:0b0f64831771 | 107 | if(data.PidFlag==1){ |
lilac0112_1 | 31:0b0f64831771 | 108 | PidUpdate(); |
lilac0112_1 | 31:0b0f64831771 | 109 | data.PidFlag=0; |
lilac0112_1 | 31:0b0f64831771 | 110 | } |
lilac0112_1 | 31:0b0f64831771 | 111 | vs = data.OutputPID; |
lilac0112_1 | 31:0b0f64831771 | 112 | move( |
lilac0112_1 | 31:0b0f64831771 | 113 | vx*LineStop[X_AXIS] + (LINE_RF)*(vy!=0)*((-1)*(LineDir[A_SPOT]==0) + (LineDir[B_SPOT]==0)), |
lilac0112_1 | 31:0b0f64831771 | 114 | vy*LineStop[Y_AXIS] + (LINE_RF)*(vx!=0)*((LineDir[C_SPOT]==0) + (-1)*(LineDir[AB_SPOT]==0)), |
lilac0112_1 | 31:0b0f64831771 | 115 | vs |
lilac0112_1 | 31:0b0f64831771 | 116 | ); |
lilac0112_1 | 31:0b0f64831771 | 117 | if(data.MotorFlag==1){ |
lilac0112_1 | 31:0b0f64831771 | 118 | tx_motor(); |
lilac0112_1 | 31:0b0f64831771 | 119 | data.MotorFlag=0; |
lilac0112_1 | 31:0b0f64831771 | 120 | } |
lilac0112_1 | 28:8ac6c3c1e643 | 121 | return; |
lilac0112_1 | 28:8ac6c3c1e643 | 122 | } |
lilac0112_1 | 28:8ac6c3c1e643 | 123 | void modeAttack2(void){ |
lilac0112_1 | 28:8ac6c3c1e643 | 124 | return; |
lilac0112_1 | 28:8ac6c3c1e643 | 125 | } |
lilac0112_1 | 28:8ac6c3c1e643 | 126 | void modeAttack3(void){ |
lilac0112_1 | 28:8ac6c3c1e643 | 127 | return; |
lilac0112_1 | 28:8ac6c3c1e643 | 128 | } |
lilac0112_1 | 28:8ac6c3c1e643 | 129 | void modeAttack4(void){ |
lilac0112_1 | 28:8ac6c3c1e643 | 130 | return; |
lilac0112_1 | 28:8ac6c3c1e643 | 131 | } |
lilac0112_1 | 28:8ac6c3c1e643 | 132 | void modeAttack5(void){ |
lilac0112_1 | 28:8ac6c3c1e643 | 133 | return; |
lilac0112_1 | 28:8ac6c3c1e643 | 134 | } |
lilac0112_1 | 28:8ac6c3c1e643 | 135 | //Debug |
lilac0112_1 | 28:8ac6c3c1e643 | 136 | void modeDebug0(void){ |
lilac0112_1 | 28:8ac6c3c1e643 | 137 | return; |
lilac0112_1 | 28:8ac6c3c1e643 | 138 | } |
lilac0112_1 | 28:8ac6c3c1e643 | 139 | void modeDebug1(void){//ChaseOnly NonLine |
lilac0112_1 | 28:8ac6c3c1e643 | 140 | int vx,vy,vs; |
lilac0112_1 | 24:9fb74ea3c25d | 141 | if(data.IrFlag==1){ |
lilac0112_1 | 24:9fb74ea3c25d | 142 | ReadIr(); |
lilac0112_1 | 24:9fb74ea3c25d | 143 | data.IrFlag=0; |
lilac0112_1 | 24:9fb74ea3c25d | 144 | } |
lilac0112_1 | 27:769cb5a7ea37 | 145 | if(data.PidFlag==1){ |
lilac0112_1 | 27:769cb5a7ea37 | 146 | PidUpdate(); |
lilac0112_1 | 27:769cb5a7ea37 | 147 | data.PidFlag=0; |
lilac0112_1 | 27:769cb5a7ea37 | 148 | } |
lilac0112_1 | 28:8ac6c3c1e643 | 149 | |
lilac0112_1 | 28:8ac6c3c1e643 | 150 | vx = ir_move_val[data.irNotice][data.irPosition][IR_X]; |
lilac0112_1 | 28:8ac6c3c1e643 | 151 | vy = ir_move_val[data.irNotice][data.irPosition][IR_Y]; |
lilac0112_1 | 28:8ac6c3c1e643 | 152 | vs = data.OutputPID; |
lilac0112_1 | 28:8ac6c3c1e643 | 153 | if(data.irPosition<8){ |
lilac0112_1 | 28:8ac6c3c1e643 | 154 | vx *= data.l_pow; |
lilac0112_1 | 28:8ac6c3c1e643 | 155 | vy *= data.l_pow; |
lilac0112_1 | 28:8ac6c3c1e643 | 156 | } |
lilac0112_1 | 28:8ac6c3c1e643 | 157 | else{ |
lilac0112_1 | 28:8ac6c3c1e643 | 158 | vx *= data.s_pow; |
lilac0112_1 | 28:8ac6c3c1e643 | 159 | vy *= data.s_pow; |
lilac0112_1 | 28:8ac6c3c1e643 | 160 | } |
lilac0112_1 | 28:8ac6c3c1e643 | 161 | |
lilac0112_1 | 28:8ac6c3c1e643 | 162 | |
lilac0112_1 | 28:8ac6c3c1e643 | 163 | move(vx, vy, vs); |
lilac0112_1 | 28:8ac6c3c1e643 | 164 | |
lilac0112_1 | 28:8ac6c3c1e643 | 165 | if(data.MotorFlag==1){ |
lilac0112_1 | 28:8ac6c3c1e643 | 166 | tx_motor(); |
lilac0112_1 | 28:8ac6c3c1e643 | 167 | data.MotorFlag=0; |
lilac0112_1 | 28:8ac6c3c1e643 | 168 | } |
lilac0112_1 | 28:8ac6c3c1e643 | 169 | return; |
lilac0112_1 | 28:8ac6c3c1e643 | 170 | } |
lilac0112_1 | 28:8ac6c3c1e643 | 171 | void modeDebug2(void){//LineRestoringForce |
lilac0112_1 | 28:8ac6c3c1e643 | 172 | int vx,vy,vs; |
lilac0112_1 | 28:8ac6c3c1e643 | 173 | uint8_t LineStop[2]; |
lilac0112_1 | 28:8ac6c3c1e643 | 174 | int LineForce[2]; |
lilac0112_1 | 28:8ac6c3c1e643 | 175 | if(data.IrFlag==1){ |
lilac0112_1 | 28:8ac6c3c1e643 | 176 | ReadIr(); |
lilac0112_1 | 28:8ac6c3c1e643 | 177 | data.IrFlag=0; |
lilac0112_1 | 28:8ac6c3c1e643 | 178 | } |
lilac0112_1 | 28:8ac6c3c1e643 | 179 | if(data.PidFlag==1){ |
lilac0112_1 | 28:8ac6c3c1e643 | 180 | PidUpdate(); |
lilac0112_1 | 28:8ac6c3c1e643 | 181 | data.PidFlag=0; |
lilac0112_1 | 28:8ac6c3c1e643 | 182 | } |
lilac0112_1 | 27:769cb5a7ea37 | 183 | vx = ir_move_val[data.irNotice][data.irPosition][IR_X]; |
lilac0112_1 | 27:769cb5a7ea37 | 184 | vy = ir_move_val[data.irNotice][data.irPosition][IR_Y]; |
lilac0112_1 | 27:769cb5a7ea37 | 185 | vs = data.OutputPID; |
lilac0112_1 | 28:8ac6c3c1e643 | 186 | if(data.irPosition<8){ |
lilac0112_1 | 28:8ac6c3c1e643 | 187 | vx *= data.l_pow; |
lilac0112_1 | 28:8ac6c3c1e643 | 188 | vy *= data.l_pow; |
lilac0112_1 | 28:8ac6c3c1e643 | 189 | } |
lilac0112_1 | 28:8ac6c3c1e643 | 190 | else{ |
lilac0112_1 | 28:8ac6c3c1e643 | 191 | vx *= data.s_pow; |
lilac0112_1 | 28:8ac6c3c1e643 | 192 | vy *= data.s_pow; |
lilac0112_1 | 28:8ac6c3c1e643 | 193 | } |
lilac0112_1 | 28:8ac6c3c1e643 | 194 | |
lilac0112_1 | 28:8ac6c3c1e643 | 195 | |
lilac0112_1 | 28:8ac6c3c1e643 | 196 | LineStop[X_AXIS] = (!((vx>0)&&((data.lnFlag[A_SPOT]==1)&&(1))))*(!((vx<0)&&((data.lnFlag[B_SPOT]==1)&&(1)))); |
lilac0112_1 | 28:8ac6c3c1e643 | 197 | LineStop[Y_AXIS] = (!((vy>0)&&((data.lnFlag[A_SPOT]==1)&&(data.lnFlag[B_SPOT]==1))))*(!((vy<0)&&((data.lnFlag[C_SPOT]==1)&&(1)))); |
lilac0112_1 | 28:8ac6c3c1e643 | 198 | |
lilac0112_1 | 28:8ac6c3c1e643 | 199 | LineForce[X_AXIS] = LineForce[Y_AXIS] = 0; |
lilac0112_1 | 28:8ac6c3c1e643 | 200 | if(((vx>0)&&((data.lnFlag[A_SPOT]==1)&&(1)))){ |
lilac0112_1 | 28:8ac6c3c1e643 | 201 | LineForce[X_AXIS] = -LINE_RF; |
lilac0112_1 | 28:8ac6c3c1e643 | 202 | } |
lilac0112_1 | 28:8ac6c3c1e643 | 203 | if(((vx<0)&&((data.lnFlag[B_SPOT]==1)&&(1)))){ |
lilac0112_1 | 28:8ac6c3c1e643 | 204 | LineForce[X_AXIS] = LINE_RF; |
lilac0112_1 | 28:8ac6c3c1e643 | 205 | } |
lilac0112_1 | 28:8ac6c3c1e643 | 206 | if(((vy>0)&&((data.lnFlag[A_SPOT]==1)&&(data.lnFlag[B_SPOT]==1)))){ |
lilac0112_1 | 28:8ac6c3c1e643 | 207 | LineForce[Y_AXIS] = -LINE_RF; |
lilac0112_1 | 28:8ac6c3c1e643 | 208 | } |
lilac0112_1 | 28:8ac6c3c1e643 | 209 | if(((vy<0)&&((data.lnFlag[C_SPOT]==1)&&(1)))){ |
lilac0112_1 | 28:8ac6c3c1e643 | 210 | LineForce[Y_AXIS] = LINE_RF; |
lilac0112_1 | 28:8ac6c3c1e643 | 211 | } |
lilac0112_1 | 28:8ac6c3c1e643 | 212 | |
lilac0112_1 | 28:8ac6c3c1e643 | 213 | move( |
lilac0112_1 | 28:8ac6c3c1e643 | 214 | vx*LineStop[X_AXIS] + LineForce[X_AXIS], |
lilac0112_1 | 28:8ac6c3c1e643 | 215 | vy*LineStop[Y_AXIS] + LineForce[Y_AXIS], |
lilac0112_1 | 28:8ac6c3c1e643 | 216 | vs |
lilac0112_1 | 28:8ac6c3c1e643 | 217 | ); |
lilac0112_1 | 28:8ac6c3c1e643 | 218 | if(data.MotorFlag==1){ |
lilac0112_1 | 28:8ac6c3c1e643 | 219 | tx_motor(); |
lilac0112_1 | 28:8ac6c3c1e643 | 220 | data.MotorFlag=0; |
lilac0112_1 | 28:8ac6c3c1e643 | 221 | } |
lilac0112_1 | 28:8ac6c3c1e643 | 222 | return; |
lilac0112_1 | 28:8ac6c3c1e643 | 223 | } |
lilac0112_1 | 28:8ac6c3c1e643 | 224 | void modeDebug3(void){//movesum |
lilac0112_1 | 28:8ac6c3c1e643 | 225 | int vx,vy,vs; |
lilac0112_1 | 28:8ac6c3c1e643 | 226 | uint8_t LineStop[2]; |
lilac0112_1 | 28:8ac6c3c1e643 | 227 | static uint8_t moveLnFlag[4]={1, 1, 1, 1}; |
lilac0112_1 | 28:8ac6c3c1e643 | 228 | static int moveLnlog[4]; |
lilac0112_1 | 28:8ac6c3c1e643 | 229 | if(data.IrFlag==1){ |
lilac0112_1 | 28:8ac6c3c1e643 | 230 | ReadIr(); |
lilac0112_1 | 28:8ac6c3c1e643 | 231 | data.IrFlag=0; |
lilac0112_1 | 28:8ac6c3c1e643 | 232 | } |
lilac0112_1 | 28:8ac6c3c1e643 | 233 | if(data.PidFlag==1){ |
lilac0112_1 | 28:8ac6c3c1e643 | 234 | PidUpdate(); |
lilac0112_1 | 28:8ac6c3c1e643 | 235 | data.PidFlag=0; |
lilac0112_1 | 28:8ac6c3c1e643 | 236 | } |
lilac0112_1 | 28:8ac6c3c1e643 | 237 | vx = ir_move_val[data.irNotice][data.irPosition][IR_X]; |
lilac0112_1 | 28:8ac6c3c1e643 | 238 | vy = ir_move_val[data.irNotice][data.irPosition][IR_Y]; |
lilac0112_1 | 28:8ac6c3c1e643 | 239 | vs = data.OutputPID; |
lilac0112_1 | 28:8ac6c3c1e643 | 240 | if(data.irPosition<8){ |
lilac0112_1 | 28:8ac6c3c1e643 | 241 | vx *= data.l_pow; |
lilac0112_1 | 28:8ac6c3c1e643 | 242 | vy *= data.l_pow; |
lilac0112_1 | 28:8ac6c3c1e643 | 243 | } |
lilac0112_1 | 28:8ac6c3c1e643 | 244 | else{ |
lilac0112_1 | 28:8ac6c3c1e643 | 245 | vx *= data.s_pow; |
lilac0112_1 | 28:8ac6c3c1e643 | 246 | vy *= data.s_pow; |
lilac0112_1 | 28:8ac6c3c1e643 | 247 | } |
lilac0112_1 | 27:769cb5a7ea37 | 248 | |
lilac0112_1 | 27:769cb5a7ea37 | 249 | data.motorlog[X_AXIS] += vx; |
lilac0112_1 | 27:769cb5a7ea37 | 250 | data.motorlog[Y_AXIS] += vy; |
lilac0112_1 | 27:769cb5a7ea37 | 251 | |
lilac0112_1 | 27:769cb5a7ea37 | 252 | if((data.lnFlag[A_SPOT]==1)&&(1)){ |
lilac0112_1 | 27:769cb5a7ea37 | 253 | moveLnFlag[A_SPOT]=0; |
lilac0112_1 | 27:769cb5a7ea37 | 254 | moveLnlog[A_SPOT] = data.motorlog[X_AXIS]; |
lilac0112_1 | 27:769cb5a7ea37 | 255 | } |
lilac0112_1 | 27:769cb5a7ea37 | 256 | if((data.lnFlag[B_SPOT]==1)&&(1)){ |
lilac0112_1 | 27:769cb5a7ea37 | 257 | moveLnFlag[B_SPOT]=0; |
lilac0112_1 | 27:769cb5a7ea37 | 258 | moveLnlog[B_SPOT] = data.motorlog[X_AXIS]; |
lilac0112_1 | 27:769cb5a7ea37 | 259 | } |
lilac0112_1 | 27:769cb5a7ea37 | 260 | if((data.lnFlag[C_SPOT]==1)&&(1)){ |
lilac0112_1 | 27:769cb5a7ea37 | 261 | moveLnFlag[C_SPOT]=0; |
lilac0112_1 | 27:769cb5a7ea37 | 262 | moveLnlog[C_SPOT] = data.motorlog[Y_AXIS]; |
lilac0112_1 | 27:769cb5a7ea37 | 263 | } |
lilac0112_1 | 27:769cb5a7ea37 | 264 | if((data.lnFlag[A_SPOT]==1)&&(data.lnFlag[B_SPOT]==1)){ |
lilac0112_1 | 27:769cb5a7ea37 | 265 | moveLnFlag[AB_SPOT]=0; |
lilac0112_1 | 27:769cb5a7ea37 | 266 | moveLnlog[AB_SPOT] = data.motorlog[Y_AXIS]; |
lilac0112_1 | 27:769cb5a7ea37 | 267 | } |
lilac0112_1 | 27:769cb5a7ea37 | 268 | |
lilac0112_1 | 27:769cb5a7ea37 | 269 | if(((data.motorlog[X_AXIS]-moveLnlog[A_SPOT])<(-RELEASE_VAL))&&(moveLnFlag[A_SPOT]==0)) moveLnFlag[A_SPOT]=1; |
lilac0112_1 | 27:769cb5a7ea37 | 270 | if(((data.motorlog[X_AXIS]-moveLnlog[B_SPOT])>(RELEASE_VAL))&&(moveLnFlag[B_SPOT]==0)) moveLnFlag[B_SPOT]=1; |
lilac0112_1 | 27:769cb5a7ea37 | 271 | if(((data.motorlog[Y_AXIS]-moveLnlog[C_SPOT])>(RELEASE_VAL))&&(moveLnFlag[C_SPOT]==0)) moveLnFlag[C_SPOT]=1; |
lilac0112_1 | 27:769cb5a7ea37 | 272 | if(((data.motorlog[Y_AXIS]-moveLnlog[AB_SPOT])<(-RELEASE_VAL))&&(moveLnFlag[AB_SPOT]==0)) moveLnFlag[AB_SPOT]=1; |
lilac0112_1 | 27:769cb5a7ea37 | 273 | |
lilac0112_1 | 27:769cb5a7ea37 | 274 | LineStop[X_AXIS] = (!((vx>0)&&(moveLnFlag[A_SPOT]==0)))*(!((vx<0)&&(moveLnFlag[B_SPOT]==0))); |
lilac0112_1 | 27:769cb5a7ea37 | 275 | LineStop[Y_AXIS] = (!((vy>0)&&(moveLnFlag[C_SPOT]==0)))*(!((vy<0)&&(moveLnFlag[AB_SPOT]==0))); |
lilac0112_1 | 26:fbb03281fc7d | 276 | |
lilac0112_1 | 27:769cb5a7ea37 | 277 | move( |
lilac0112_1 | 27:769cb5a7ea37 | 278 | vx*LineStop[X_AXIS], |
lilac0112_1 | 27:769cb5a7ea37 | 279 | vy*LineStop[Y_AXIS], |
lilac0112_1 | 27:769cb5a7ea37 | 280 | vs |
lilac0112_1 | 26:fbb03281fc7d | 281 | ); |
lilac0112_1 | 27:769cb5a7ea37 | 282 | if(data.MotorFlag==1){ |
lilac0112_1 | 27:769cb5a7ea37 | 283 | tx_motor(); |
lilac0112_1 | 27:769cb5a7ea37 | 284 | data.MotorFlag=0; |
lilac0112_1 | 27:769cb5a7ea37 | 285 | } |
lilac0112_1 | 21:d69a8f3c76e1 | 286 | return; |
lilac0112_1 | 21:d69a8f3c76e1 | 287 | } |
lilac0112_1 | 28:8ac6c3c1e643 | 288 | void modeDebug4(void){//solenoid |
lilac0112_1 | 28:8ac6c3c1e643 | 289 | if(data.KickFlag==1){ |
lilac0112_1 | 28:8ac6c3c1e643 | 290 | DriveSolenoid(); |
lilac0112_1 | 28:8ac6c3c1e643 | 291 | } |
lilac0112_1 | 21:d69a8f3c76e1 | 292 | return; |
lilac0112_1 | 21:d69a8f3c76e1 | 293 | } |
lilac0112_1 | 28:8ac6c3c1e643 | 294 | void modeDebug5(void){//cmpsTest |
lilac0112_1 | 28:8ac6c3c1e643 | 295 | if(data.IrFlag==1){ |
lilac0112_1 | 28:8ac6c3c1e643 | 296 | ReadIr(); |
lilac0112_1 | 28:8ac6c3c1e643 | 297 | data.IrFlag=0; |
lilac0112_1 | 28:8ac6c3c1e643 | 298 | } |
lilac0112_1 | 28:8ac6c3c1e643 | 299 | if(data.PidFlag==1){ |
lilac0112_1 | 28:8ac6c3c1e643 | 300 | PidUpdate(); |
lilac0112_1 | 28:8ac6c3c1e643 | 301 | data.PidFlag=0; |
lilac0112_1 | 28:8ac6c3c1e643 | 302 | } |
lilac0112_1 | 28:8ac6c3c1e643 | 303 | move(0,0,data.OutputPID); |
lilac0112_1 | 28:8ac6c3c1e643 | 304 | if(data.MotorFlag==1){ |
lilac0112_1 | 28:8ac6c3c1e643 | 305 | tx_motor(); |
lilac0112_1 | 28:8ac6c3c1e643 | 306 | data.MotorFlag=0; |
lilac0112_1 | 28:8ac6c3c1e643 | 307 | } |
lilac0112_1 | 28:8ac6c3c1e643 | 308 | |
lilac0112_1 | 19:342da3a5a474 | 309 | return; |
lilac0112_1 | 19:342da3a5a474 | 310 | } |