![](/media/cache/group/default_image.jpg.50x50_q85.jpg)
Main Program
Dependencies: mbed AQM1602 HMC6352 PID
main_processing/setup_command_active/setup.cpp@27:769cb5a7ea37, 2016-01-31 (annotated)
- Committer:
- lilac0112_1
- Date:
- Sun Jan 31 15:46:19 2016 +0000
- Revision:
- 27:769cb5a7ea37
- Parent:
- 25:f98a7c2a5970
- Child:
- 28:8ac6c3c1e643
plan; solenoid; ir_turn; line stop
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 | 19:342da3a5a474 | 7 | |
lilac0112_1 | 19:342da3a5a474 | 8 | //sw&lcd |
lilac0112_1 | 19:342da3a5a474 | 9 | Sw[0].mode(PullUp); |
lilac0112_1 | 19:342da3a5a474 | 10 | Sw[1].mode(PullUp); |
lilac0112_1 | 19:342da3a5a474 | 11 | Sw[2].mode(PullUp); |
lilac0112_1 | 19:342da3a5a474 | 12 | Sw[3].mode(PullUp); |
lilac0112_1 | 24:9fb74ea3c25d | 13 | Sw_ticker.attach(Sw_sample, 0.050); |
lilac0112_1 | 22:a95f7c63af3c | 14 | |
lilac0112_1 | 19:342da3a5a474 | 15 | Lcd.cls(); |
lilac0112_1 | 19:342da3a5a474 | 16 | Lcd.print(lcdstr[0][0]); |
lilac0112_1 | 19:342da3a5a474 | 17 | |
lilac0112_1 | 19:342da3a5a474 | 18 | //ball |
lilac0112_1 | 19:342da3a5a474 | 19 | BallChecker.mode(PullUp); |
lilac0112_1 | 19:342da3a5a474 | 20 | |
lilac0112_1 | 19:342da3a5a474 | 21 | //value |
lilac0112_1 | 22:a95f7c63af3c | 22 | data.strategy = 0; |
lilac0112_1 | 24:9fb74ea3c25d | 23 | data.motorlog[X_AXIS] = 0; |
lilac0112_1 | 24:9fb74ea3c25d | 24 | data.motorlog[Y_AXIS] = 0; |
lilac0112_1 | 19:342da3a5a474 | 25 | |
lilac0112_1 | 19:342da3a5a474 | 26 | //spi |
lilac0112_1 | 21:d69a8f3c76e1 | 27 | spi.format(16, 3); |
lilac0112_1 | 21:d69a8f3c76e1 | 28 | spi.frequency(1000000); |
lilac0112_1 | 21:d69a8f3c76e1 | 29 | spi_ss[0]=spi_ss[1]=spi_ss[2]=spi_ss[3]=1; |
lilac0112_1 | 19:342da3a5a474 | 30 | |
lilac0112_1 | 19:342da3a5a474 | 31 | //motor |
lilac0112_1 | 22:a95f7c63af3c | 32 | motor.baud(115200); //ボーレート設定 |
lilac0112_1 | 22:a95f7c63af3c | 33 | motor.printf("1F0002F0003F0004F000\r\n"); //モータ停止 |
lilac0112_1 | 19:342da3a5a474 | 34 | //motor.attach(&tx_motor,Serial::TxIrq); //送信空き割り込み(モータ用) |
lilac0112_1 | 19:342da3a5a474 | 35 | |
lilac0112_1 | 19:342da3a5a474 | 36 | for(int i=0; i<5; i++){ |
lilac0112_1 | 22:a95f7c63af3c | 37 | ReadCmps(); |
lilac0112_1 | 21:d69a8f3c76e1 | 38 | data.CmpsInitialValue = data.cmps; |
lilac0112_1 | 21:d69a8f3c76e1 | 39 | wait_ms(10); |
lilac0112_1 | 19:342da3a5a474 | 40 | } |
lilac0112_1 | 23:d95d8d3e89f3 | 41 | data.CmpsDiff = REFERENCE - data.cmps; |
lilac0112_1 | 21:d69a8f3c76e1 | 42 | data.FrontDeg=0; |
lilac0112_1 | 19:342da3a5a474 | 43 | |
lilac0112_1 | 24:9fb74ea3c25d | 44 | pid.setInputLimits(MINIMUM,MAXIMUM); //pid sed def |
lilac0112_1 | 24:9fb74ea3c25d | 45 | pid.setOutputLimits(-OUT_LIMIT, OUT_LIMIT); //pid sed def |
lilac0112_1 | 24:9fb74ea3c25d | 46 | pid.setBias(PID_BIAS); //pid sed def |
lilac0112_1 | 24:9fb74ea3c25d | 47 | pid.setMode(AUTO_MODE); //pid sed def |
lilac0112_1 | 24:9fb74ea3c25d | 48 | pid.setSetPoint(REFERENCE); //pid sed def |
lilac0112_1 | 19:342da3a5a474 | 49 | //pidupdate.attach(&PidUpdate, PID_CYCLE); |
lilac0112_1 | 19:342da3a5a474 | 50 | } |
lilac0112_1 | 19:342da3a5a474 | 51 | void SetUp2(void){//スタートした時の処理 |
lilac0112_1 | 19:342da3a5a474 | 52 | data.strategy=0; |
lilac0112_1 | 24:9fb74ea3c25d | 53 | |
lilac0112_1 | 24:9fb74ea3c25d | 54 | data.motorlog[X_AXIS] = 0; |
lilac0112_1 | 24:9fb74ea3c25d | 55 | data.motorlog[Y_AXIS] = 0; |
lilac0112_1 | 24:9fb74ea3c25d | 56 | for(int i=0; i<5; i++){ |
lilac0112_1 | 24:9fb74ea3c25d | 57 | ReadCmps(); |
lilac0112_1 | 24:9fb74ea3c25d | 58 | data.CmpsInitialValue = data.cmps; |
lilac0112_1 | 24:9fb74ea3c25d | 59 | wait_ms(10); |
lilac0112_1 | 24:9fb74ea3c25d | 60 | } |
lilac0112_1 | 24:9fb74ea3c25d | 61 | data.CmpsDiff = REFERENCE - data.cmps; |
lilac0112_1 | 24:9fb74ea3c25d | 62 | data.FrontDeg=0; |
lilac0112_1 | 24:9fb74ea3c25d | 63 | |
lilac0112_1 | 27:769cb5a7ea37 | 64 | Line_ticker.attach(&ReadLine, 0.005); |
lilac0112_1 | 24:9fb74ea3c25d | 65 | Solenoid_ticker.attach(&AvailableSolenoid, 6.0); |
lilac0112_1 | 24:9fb74ea3c25d | 66 | Ir_ticker.attach(&ValidIr, 0.050); |
lilac0112_1 | 24:9fb74ea3c25d | 67 | //motor.attach(&tx_motor,Serial::TxIrq); //送信空き割り込み(モータ用) |
lilac0112_1 | 27:769cb5a7ea37 | 68 | Motor_ticker.attach(&ValidTx_motor, 0.020); |
lilac0112_1 | 27:769cb5a7ea37 | 69 | pidupdate.attach(&ValidPidUpdate, PID_CYCLE); |
lilac0112_1 | 27:769cb5a7ea37 | 70 | |
lilac0112_1 | 27:769cb5a7ea37 | 71 | data.motorlog[X_AXIS]=0; |
lilac0112_1 | 27:769cb5a7ea37 | 72 | data.motorlog[Y_AXIS]=0; |
lilac0112_1 | 19:342da3a5a474 | 73 | } |
lilac0112_1 | 19:342da3a5a474 | 74 | void StopProcess(void){//コマンドに戻るときの処理 |
lilac0112_1 | 24:9fb74ea3c25d | 75 | pidupdate.detach(); |
lilac0112_1 | 24:9fb74ea3c25d | 76 | Motor_ticker.detach(); |
lilac0112_1 | 24:9fb74ea3c25d | 77 | Line_ticker.detach(); |
lilac0112_1 | 24:9fb74ea3c25d | 78 | Solenoid_ticker.detach(); |
lilac0112_1 | 24:9fb74ea3c25d | 79 | Ir_ticker.detach(); |
lilac0112_1 | 24:9fb74ea3c25d | 80 | DriveSolenoid(); |
lilac0112_1 | 24:9fb74ea3c25d | 81 | motor.printf("1F0002F0003F0004F000\r\n"); //モータ停止 |
lilac0112_1 | 24:9fb74ea3c25d | 82 | move(0,0,0); |
lilac0112_1 | 27:769cb5a7ea37 | 83 | data.OutputPID=0; |
lilac0112_1 | 27:769cb5a7ea37 | 84 | data.InputPID=REFERENCE; |
lilac0112_1 | 19:342da3a5a474 | 85 | } |