![](/media/cache/group/default_image.jpg.50x50_q85.jpg)
Main Program
Dependencies: mbed AQM1602 HMC6352 PID
main_processing/strategy/strategy.cpp@29:b413b0bb07a1, 2016-02-01 (annotated)
- Committer:
- lilac0112_1
- Date:
- Mon Feb 01 11:25:32 2016 +0000
- Revision:
- 29:b413b0bb07a1
- Parent:
- 28:8ac6c3c1e643
- Child:
- 30:26070ba1f21f
dangerous
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 | 29:b413b0bb07a1 | 10 | //uint8_t IrRange[4]; |
lilac0112_1 | 28:8ac6c3c1e643 | 11 | if(data.IrFlag==1){ |
lilac0112_1 | 28:8ac6c3c1e643 | 12 | ReadIr(); |
lilac0112_1 | 28:8ac6c3c1e643 | 13 | data.IrFlag=0; |
lilac0112_1 | 28:8ac6c3c1e643 | 14 | } |
lilac0112_1 | 28:8ac6c3c1e643 | 15 | if(data.PidFlag==1){ |
lilac0112_1 | 28:8ac6c3c1e643 | 16 | Line_ticker.detach(); |
lilac0112_1 | 28:8ac6c3c1e643 | 17 | PidUpdate(); |
lilac0112_1 | 28:8ac6c3c1e643 | 18 | Line_ticker.attach(&ReadLine, 0.005); |
lilac0112_1 | 28:8ac6c3c1e643 | 19 | data.PidFlag=0; |
lilac0112_1 | 28:8ac6c3c1e643 | 20 | } |
lilac0112_1 | 28:8ac6c3c1e643 | 21 | ir_x = ir_move_val[data.irNotice][data.irPosition][IR_X]; |
lilac0112_1 | 28:8ac6c3c1e643 | 22 | ir_y = ir_move_val[data.irNotice][data.irPosition][IR_Y]; |
lilac0112_1 | 28:8ac6c3c1e643 | 23 | if(data.irPosition<8){ |
lilac0112_1 | 28:8ac6c3c1e643 | 24 | ir_x *= data.l_pow; |
lilac0112_1 | 28:8ac6c3c1e643 | 25 | ir_y *= data.l_pow; |
lilac0112_1 | 28:8ac6c3c1e643 | 26 | } |
lilac0112_1 | 28:8ac6c3c1e643 | 27 | else{ |
lilac0112_1 | 28:8ac6c3c1e643 | 28 | ir_x *= data.s_pow; |
lilac0112_1 | 28:8ac6c3c1e643 | 29 | ir_y *= data.s_pow; |
lilac0112_1 | 28:8ac6c3c1e643 | 30 | } |
lilac0112_1 | 29:b413b0bb07a1 | 31 | //Lineを考慮していないIrのみの値 |
lilac0112_1 | 29:b413b0bb07a1 | 32 | vx = ir_x; |
lilac0112_1 | 29:b413b0bb07a1 | 33 | vy = ir_y; |
lilac0112_1 | 29:b413b0bb07a1 | 34 | //Line検出方向を調べる |
lilac0112_1 | 28:8ac6c3c1e643 | 35 | LineDir[A_SPOT] = (!((vx>0)&&((data.lnFlag[A_SPOT]==1)&&(data.lnFlag[B_SPOT]==0)))); |
lilac0112_1 | 28:8ac6c3c1e643 | 36 | LineDir[B_SPOT] = (!((vx<0)&&((data.lnFlag[A_SPOT]==0)&&(data.lnFlag[B_SPOT]==1)))); |
lilac0112_1 | 28:8ac6c3c1e643 | 37 | LineDir[C_SPOT] = (!((vy<0)&&((data.lnFlag[C_SPOT]==1)&&(1)))); |
lilac0112_1 | 28:8ac6c3c1e643 | 38 | LineDir[AB_SPOT] = (!((vy>0)&&((data.lnFlag[A_SPOT]==1)&&(data.lnFlag[B_SPOT]==1)))); |
lilac0112_1 | 28:8ac6c3c1e643 | 39 | |
lilac0112_1 | 28:8ac6c3c1e643 | 40 | LineStop[X_AXIS] = LineDir[A_SPOT]*LineDir[B_SPOT]; |
lilac0112_1 | 28:8ac6c3c1e643 | 41 | LineStop[Y_AXIS] = LineDir[C_SPOT]*LineDir[AB_SPOT]; |
lilac0112_1 | 28:8ac6c3c1e643 | 42 | |
lilac0112_1 | 28:8ac6c3c1e643 | 43 | |
lilac0112_1 | 29:b413b0bb07a1 | 44 | /* |
lilac0112_1 | 28:8ac6c3c1e643 | 45 | IrRange[A_SPOT] = (data.irPosition==19)||(data.irPosition==8)||(data.irPosition==9); |
lilac0112_1 | 29:b413b0bb07a1 | 46 | IrRange[B_SPOT] = (data.irPosition==13)||(data.irPosition==14)||(data.irPosition==15); |
lilac0112_1 | 29:b413b0bb07a1 | 47 | IrRange[C_SPOT] = (data.irPosition==16)||(data.irPosition==17)||(data.irPosition==18); |
lilac0112_1 | 29:b413b0bb07a1 | 48 | IrRange[AB_SPOT] = (data.irPosition==10)||(data.irPosition==11)||(data.irPosition==12); |
lilac0112_1 | 29:b413b0bb07a1 | 49 | */ |
lilac0112_1 | 29:b413b0bb07a1 | 50 | /* |
lilac0112_1 | 29:b413b0bb07a1 | 51 | IrRange[A_SPOT] = ((18<=data.irPosition)&&(data.irPosition<=19))||((8<=data.irPosition)&&(data.irPosition<=10)) |
lilac0112_1 | 29:b413b0bb07a1 | 52 | ||((6<=data.irPosition)&&(data.irPosition<=7))||(( 1)&&(data.irPosition<=1)); |
lilac0112_1 | 29:b413b0bb07a1 | 53 | IrRange[B_SPOT] = ((12<=data.irPosition)&&(data.irPosition<=16))||((2<=data.irPosition)&&(data.irPosition<=5)); |
lilac0112_1 | 29:b413b0bb07a1 | 54 | IrRange[C_SPOT] = ((15<=data.irPosition)&&(data.irPosition<=19))||((4<=data.irPosition)&&(data.irPosition<=7)); |
lilac0112_1 | 29:b413b0bb07a1 | 55 | IrRange[AB_SPOT] = ((9<=data.irPosition)&&(data.irPosition<=13))||(( 1)&&(data.irPosition<=3)); |
lilac0112_1 | 29:b413b0bb07a1 | 56 | |
lilac0112_1 | 29:b413b0bb07a1 | 57 | data.LineBind[A_SPOT] = ((IrRange[A_SPOT]==1)&&((LineDir[A_SPOT]==0)||(data.LineBind[A_SPOT]==1))); |
lilac0112_1 | 29:b413b0bb07a1 | 58 | data.LineBind[B_SPOT] = ((IrRange[B_SPOT]==1)&&((LineDir[B_SPOT]==0)||(data.LineBind[B_SPOT]==1))); |
lilac0112_1 | 29:b413b0bb07a1 | 59 | data.LineBind[C_SPOT] = ((IrRange[C_SPOT]==1)&&((LineDir[C_SPOT]==0)||(data.LineBind[C_SPOT]==1))); |
lilac0112_1 | 29:b413b0bb07a1 | 60 | data.LineBind[AB_SPOT] = ((IrRange[AB_SPOT]==1)&&((LineDir[AB_SPOT]==0)||(data.LineBind[AB_SPOT]==1))); |
lilac0112_1 | 29:b413b0bb07a1 | 61 | */ |
lilac0112_1 | 28:8ac6c3c1e643 | 62 | |
lilac0112_1 | 29:b413b0bb07a1 | 63 | /* |
lilac0112_1 | 29:b413b0bb07a1 | 64 | if(data.LineBind[A_SPOT]||data.LineBind[B_SPOT]||data.LineBind[C_SPOT]||data.LineBind[AB_SPOT]){ |
lilac0112_1 | 29:b413b0bb07a1 | 65 | //Line_timeout.attach(); |
lilac0112_1 | 29:b413b0bb07a1 | 66 | vx=(LINE_RF*2)*((-1)*data.LineBind[A_SPOT] + data.LineBind[B_SPOT]); |
lilac0112_1 | 29:b413b0bb07a1 | 67 | vy=(LINE_RF*2)*( data.LineBind[C_SPOT] + (-1)*data.LineBind[AB_SPOT]); |
lilac0112_1 | 29:b413b0bb07a1 | 68 | if((LineDir[A_SPOT]==0)||(LineDir[B_SPOT]==0)||(LineDir[C_SPOT]==0)||(LineDir[AB_SPOT]==0)){ |
lilac0112_1 | 29:b413b0bb07a1 | 69 | vx=(LINE_RF*2)*(-data.LineBind[A_SPOT] + data.LineBind[B_SPOT]); |
lilac0112_1 | 29:b413b0bb07a1 | 70 | vy=(LINE_RF*2)*(data.LineBind[C_SPOT] - data.LineBind[AB_SPOT]); |
lilac0112_1 | 29:b413b0bb07a1 | 71 | } |
lilac0112_1 | 29:b413b0bb07a1 | 72 | else{ |
lilac0112_1 | 29:b413b0bb07a1 | 73 | vx=0; |
lilac0112_1 | 29:b413b0bb07a1 | 74 | vy=0; |
lilac0112_1 | 29:b413b0bb07a1 | 75 | } |
lilac0112_1 | 29:b413b0bb07a1 | 76 | }*/ |
lilac0112_1 | 29:b413b0bb07a1 | 77 | /*if(data.LineBind[A_SPOT]||data.LineBind[B_SPOT]||data.LineBind[C_SPOT]||data.LineBind[AB_SPOT]){ |
lilac0112_1 | 29:b413b0bb07a1 | 78 | vx=(LINE_RF*2)*((-1.0)*data.LineBind[A_SPOT]*(LineDir[A_SPOT]==0) + data.LineBind[B_SPOT]*(LineDir[B_SPOT]==0)); |
lilac0112_1 | 29:b413b0bb07a1 | 79 | vy=(LINE_RF*2)*( data.LineBind[C_SPOT]*(LineDir[C_SPOT]==0) + (-1.0)*data.LineBind[AB_SPOT]*(LineDir[AB_SPOT]==0)); |
lilac0112_1 | 29:b413b0bb07a1 | 80 | |
lilac0112_1 | 29:b413b0bb07a1 | 81 | }*/ |
lilac0112_1 | 28:8ac6c3c1e643 | 82 | vs = data.OutputPID; |
lilac0112_1 | 29:b413b0bb07a1 | 83 | /* |
lilac0112_1 | 29:b413b0bb07a1 | 84 | //ForLineAll |
lilac0112_1 | 29:b413b0bb07a1 | 85 | data.motorlog[X_AXIS] *= LineStop[X_AXIS]; |
lilac0112_1 | 29:b413b0bb07a1 | 86 | data.motorlog[Y_AXIS] *= LineStop[Y_AXIS]; |
lilac0112_1 | 29:b413b0bb07a1 | 87 | data.motorlog[X_AXIS] += vx; |
lilac0112_1 | 29:b413b0bb07a1 | 88 | data.motorlog[Y_AXIS] += vy; |
lilac0112_1 | 29:b413b0bb07a1 | 89 | */ |
lilac0112_1 | 28:8ac6c3c1e643 | 90 | move( |
lilac0112_1 | 29:b413b0bb07a1 | 91 | vx*LineStop[X_AXIS] + (LINE_RF)*(vy!=0)*((-1)*(LineDir[A_SPOT]==0) + (LineDir[B_SPOT]==0)), |
lilac0112_1 | 29:b413b0bb07a1 | 92 | vy*LineStop[Y_AXIS] + (LINE_RF)*(vx!=0)*((LineDir[C_SPOT]==0) + (-1)*(LineDir[AB_SPOT]==0)), |
lilac0112_1 | 28:8ac6c3c1e643 | 93 | vs |
lilac0112_1 | 28:8ac6c3c1e643 | 94 | ); |
lilac0112_1 | 28:8ac6c3c1e643 | 95 | |
lilac0112_1 | 28:8ac6c3c1e643 | 96 | if(data.MotorFlag==1){ |
lilac0112_1 | 28:8ac6c3c1e643 | 97 | tx_motor(); |
lilac0112_1 | 28:8ac6c3c1e643 | 98 | data.MotorFlag=0; |
lilac0112_1 | 28:8ac6c3c1e643 | 99 | } |
lilac0112_1 | 28:8ac6c3c1e643 | 100 | return; |
lilac0112_1 | 28:8ac6c3c1e643 | 101 | } |
lilac0112_1 | 28:8ac6c3c1e643 | 102 | void modeAttack1(void){ |
lilac0112_1 | 28:8ac6c3c1e643 | 103 | return; |
lilac0112_1 | 28:8ac6c3c1e643 | 104 | } |
lilac0112_1 | 28:8ac6c3c1e643 | 105 | void modeAttack2(void){ |
lilac0112_1 | 28:8ac6c3c1e643 | 106 | return; |
lilac0112_1 | 28:8ac6c3c1e643 | 107 | } |
lilac0112_1 | 28:8ac6c3c1e643 | 108 | void modeAttack3(void){ |
lilac0112_1 | 28:8ac6c3c1e643 | 109 | return; |
lilac0112_1 | 28:8ac6c3c1e643 | 110 | } |
lilac0112_1 | 28:8ac6c3c1e643 | 111 | void modeAttack4(void){ |
lilac0112_1 | 28:8ac6c3c1e643 | 112 | return; |
lilac0112_1 | 28:8ac6c3c1e643 | 113 | } |
lilac0112_1 | 28:8ac6c3c1e643 | 114 | void modeAttack5(void){ |
lilac0112_1 | 28:8ac6c3c1e643 | 115 | return; |
lilac0112_1 | 28:8ac6c3c1e643 | 116 | } |
lilac0112_1 | 28:8ac6c3c1e643 | 117 | //Debug |
lilac0112_1 | 28:8ac6c3c1e643 | 118 | void modeDebug0(void){ |
lilac0112_1 | 28:8ac6c3c1e643 | 119 | return; |
lilac0112_1 | 28:8ac6c3c1e643 | 120 | } |
lilac0112_1 | 28:8ac6c3c1e643 | 121 | void modeDebug1(void){//ChaseOnly NonLine |
lilac0112_1 | 28:8ac6c3c1e643 | 122 | int vx,vy,vs; |
lilac0112_1 | 24:9fb74ea3c25d | 123 | if(data.IrFlag==1){ |
lilac0112_1 | 24:9fb74ea3c25d | 124 | ReadIr(); |
lilac0112_1 | 24:9fb74ea3c25d | 125 | data.IrFlag=0; |
lilac0112_1 | 24:9fb74ea3c25d | 126 | } |
lilac0112_1 | 27:769cb5a7ea37 | 127 | if(data.PidFlag==1){ |
lilac0112_1 | 27:769cb5a7ea37 | 128 | PidUpdate(); |
lilac0112_1 | 27:769cb5a7ea37 | 129 | data.PidFlag=0; |
lilac0112_1 | 27:769cb5a7ea37 | 130 | } |
lilac0112_1 | 28:8ac6c3c1e643 | 131 | |
lilac0112_1 | 28:8ac6c3c1e643 | 132 | vx = ir_move_val[data.irNotice][data.irPosition][IR_X]; |
lilac0112_1 | 28:8ac6c3c1e643 | 133 | vy = ir_move_val[data.irNotice][data.irPosition][IR_Y]; |
lilac0112_1 | 28:8ac6c3c1e643 | 134 | vs = data.OutputPID; |
lilac0112_1 | 28:8ac6c3c1e643 | 135 | if(data.irPosition<8){ |
lilac0112_1 | 28:8ac6c3c1e643 | 136 | vx *= data.l_pow; |
lilac0112_1 | 28:8ac6c3c1e643 | 137 | vy *= data.l_pow; |
lilac0112_1 | 28:8ac6c3c1e643 | 138 | } |
lilac0112_1 | 28:8ac6c3c1e643 | 139 | else{ |
lilac0112_1 | 28:8ac6c3c1e643 | 140 | vx *= data.s_pow; |
lilac0112_1 | 28:8ac6c3c1e643 | 141 | vy *= data.s_pow; |
lilac0112_1 | 28:8ac6c3c1e643 | 142 | } |
lilac0112_1 | 28:8ac6c3c1e643 | 143 | |
lilac0112_1 | 28:8ac6c3c1e643 | 144 | |
lilac0112_1 | 28:8ac6c3c1e643 | 145 | move(vx, vy, vs); |
lilac0112_1 | 28:8ac6c3c1e643 | 146 | |
lilac0112_1 | 28:8ac6c3c1e643 | 147 | if(data.MotorFlag==1){ |
lilac0112_1 | 28:8ac6c3c1e643 | 148 | tx_motor(); |
lilac0112_1 | 28:8ac6c3c1e643 | 149 | data.MotorFlag=0; |
lilac0112_1 | 28:8ac6c3c1e643 | 150 | } |
lilac0112_1 | 28:8ac6c3c1e643 | 151 | return; |
lilac0112_1 | 28:8ac6c3c1e643 | 152 | } |
lilac0112_1 | 28:8ac6c3c1e643 | 153 | void modeDebug2(void){//LineRestoringForce |
lilac0112_1 | 28:8ac6c3c1e643 | 154 | int vx,vy,vs; |
lilac0112_1 | 28:8ac6c3c1e643 | 155 | uint8_t LineStop[2]; |
lilac0112_1 | 28:8ac6c3c1e643 | 156 | int LineForce[2]; |
lilac0112_1 | 28:8ac6c3c1e643 | 157 | if(data.IrFlag==1){ |
lilac0112_1 | 28:8ac6c3c1e643 | 158 | ReadIr(); |
lilac0112_1 | 28:8ac6c3c1e643 | 159 | data.IrFlag=0; |
lilac0112_1 | 28:8ac6c3c1e643 | 160 | } |
lilac0112_1 | 28:8ac6c3c1e643 | 161 | if(data.PidFlag==1){ |
lilac0112_1 | 28:8ac6c3c1e643 | 162 | PidUpdate(); |
lilac0112_1 | 28:8ac6c3c1e643 | 163 | data.PidFlag=0; |
lilac0112_1 | 28:8ac6c3c1e643 | 164 | } |
lilac0112_1 | 27:769cb5a7ea37 | 165 | vx = ir_move_val[data.irNotice][data.irPosition][IR_X]; |
lilac0112_1 | 27:769cb5a7ea37 | 166 | vy = ir_move_val[data.irNotice][data.irPosition][IR_Y]; |
lilac0112_1 | 27:769cb5a7ea37 | 167 | vs = data.OutputPID; |
lilac0112_1 | 28:8ac6c3c1e643 | 168 | if(data.irPosition<8){ |
lilac0112_1 | 28:8ac6c3c1e643 | 169 | vx *= data.l_pow; |
lilac0112_1 | 28:8ac6c3c1e643 | 170 | vy *= data.l_pow; |
lilac0112_1 | 28:8ac6c3c1e643 | 171 | } |
lilac0112_1 | 28:8ac6c3c1e643 | 172 | else{ |
lilac0112_1 | 28:8ac6c3c1e643 | 173 | vx *= data.s_pow; |
lilac0112_1 | 28:8ac6c3c1e643 | 174 | vy *= data.s_pow; |
lilac0112_1 | 28:8ac6c3c1e643 | 175 | } |
lilac0112_1 | 28:8ac6c3c1e643 | 176 | |
lilac0112_1 | 28:8ac6c3c1e643 | 177 | |
lilac0112_1 | 28:8ac6c3c1e643 | 178 | LineStop[X_AXIS] = (!((vx>0)&&((data.lnFlag[A_SPOT]==1)&&(1))))*(!((vx<0)&&((data.lnFlag[B_SPOT]==1)&&(1)))); |
lilac0112_1 | 28:8ac6c3c1e643 | 179 | 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 | 180 | |
lilac0112_1 | 28:8ac6c3c1e643 | 181 | LineForce[X_AXIS] = LineForce[Y_AXIS] = 0; |
lilac0112_1 | 28:8ac6c3c1e643 | 182 | if(((vx>0)&&((data.lnFlag[A_SPOT]==1)&&(1)))){ |
lilac0112_1 | 28:8ac6c3c1e643 | 183 | LineForce[X_AXIS] = -LINE_RF; |
lilac0112_1 | 28:8ac6c3c1e643 | 184 | } |
lilac0112_1 | 28:8ac6c3c1e643 | 185 | if(((vx<0)&&((data.lnFlag[B_SPOT]==1)&&(1)))){ |
lilac0112_1 | 28:8ac6c3c1e643 | 186 | LineForce[X_AXIS] = LINE_RF; |
lilac0112_1 | 28:8ac6c3c1e643 | 187 | } |
lilac0112_1 | 28:8ac6c3c1e643 | 188 | if(((vy>0)&&((data.lnFlag[A_SPOT]==1)&&(data.lnFlag[B_SPOT]==1)))){ |
lilac0112_1 | 28:8ac6c3c1e643 | 189 | LineForce[Y_AXIS] = -LINE_RF; |
lilac0112_1 | 28:8ac6c3c1e643 | 190 | } |
lilac0112_1 | 28:8ac6c3c1e643 | 191 | if(((vy<0)&&((data.lnFlag[C_SPOT]==1)&&(1)))){ |
lilac0112_1 | 28:8ac6c3c1e643 | 192 | LineForce[Y_AXIS] = LINE_RF; |
lilac0112_1 | 28:8ac6c3c1e643 | 193 | } |
lilac0112_1 | 28:8ac6c3c1e643 | 194 | |
lilac0112_1 | 28:8ac6c3c1e643 | 195 | move( |
lilac0112_1 | 28:8ac6c3c1e643 | 196 | vx*LineStop[X_AXIS] + LineForce[X_AXIS], |
lilac0112_1 | 28:8ac6c3c1e643 | 197 | vy*LineStop[Y_AXIS] + LineForce[Y_AXIS], |
lilac0112_1 | 28:8ac6c3c1e643 | 198 | vs |
lilac0112_1 | 28:8ac6c3c1e643 | 199 | ); |
lilac0112_1 | 28:8ac6c3c1e643 | 200 | if(data.MotorFlag==1){ |
lilac0112_1 | 28:8ac6c3c1e643 | 201 | tx_motor(); |
lilac0112_1 | 28:8ac6c3c1e643 | 202 | data.MotorFlag=0; |
lilac0112_1 | 28:8ac6c3c1e643 | 203 | } |
lilac0112_1 | 28:8ac6c3c1e643 | 204 | return; |
lilac0112_1 | 28:8ac6c3c1e643 | 205 | } |
lilac0112_1 | 28:8ac6c3c1e643 | 206 | void modeDebug3(void){//movesum |
lilac0112_1 | 28:8ac6c3c1e643 | 207 | int vx,vy,vs; |
lilac0112_1 | 28:8ac6c3c1e643 | 208 | uint8_t LineStop[2]; |
lilac0112_1 | 28:8ac6c3c1e643 | 209 | static uint8_t moveLnFlag[4]={1, 1, 1, 1}; |
lilac0112_1 | 28:8ac6c3c1e643 | 210 | static int moveLnlog[4]; |
lilac0112_1 | 28:8ac6c3c1e643 | 211 | if(data.IrFlag==1){ |
lilac0112_1 | 28:8ac6c3c1e643 | 212 | ReadIr(); |
lilac0112_1 | 28:8ac6c3c1e643 | 213 | data.IrFlag=0; |
lilac0112_1 | 28:8ac6c3c1e643 | 214 | } |
lilac0112_1 | 28:8ac6c3c1e643 | 215 | if(data.PidFlag==1){ |
lilac0112_1 | 28:8ac6c3c1e643 | 216 | PidUpdate(); |
lilac0112_1 | 28:8ac6c3c1e643 | 217 | data.PidFlag=0; |
lilac0112_1 | 28:8ac6c3c1e643 | 218 | } |
lilac0112_1 | 28:8ac6c3c1e643 | 219 | vx = ir_move_val[data.irNotice][data.irPosition][IR_X]; |
lilac0112_1 | 28:8ac6c3c1e643 | 220 | vy = ir_move_val[data.irNotice][data.irPosition][IR_Y]; |
lilac0112_1 | 28:8ac6c3c1e643 | 221 | vs = data.OutputPID; |
lilac0112_1 | 28:8ac6c3c1e643 | 222 | if(data.irPosition<8){ |
lilac0112_1 | 28:8ac6c3c1e643 | 223 | vx *= data.l_pow; |
lilac0112_1 | 28:8ac6c3c1e643 | 224 | vy *= data.l_pow; |
lilac0112_1 | 28:8ac6c3c1e643 | 225 | } |
lilac0112_1 | 28:8ac6c3c1e643 | 226 | else{ |
lilac0112_1 | 28:8ac6c3c1e643 | 227 | vx *= data.s_pow; |
lilac0112_1 | 28:8ac6c3c1e643 | 228 | vy *= data.s_pow; |
lilac0112_1 | 28:8ac6c3c1e643 | 229 | } |
lilac0112_1 | 27:769cb5a7ea37 | 230 | |
lilac0112_1 | 27:769cb5a7ea37 | 231 | data.motorlog[X_AXIS] += vx; |
lilac0112_1 | 27:769cb5a7ea37 | 232 | data.motorlog[Y_AXIS] += vy; |
lilac0112_1 | 27:769cb5a7ea37 | 233 | |
lilac0112_1 | 27:769cb5a7ea37 | 234 | if((data.lnFlag[A_SPOT]==1)&&(1)){ |
lilac0112_1 | 27:769cb5a7ea37 | 235 | moveLnFlag[A_SPOT]=0; |
lilac0112_1 | 27:769cb5a7ea37 | 236 | moveLnlog[A_SPOT] = data.motorlog[X_AXIS]; |
lilac0112_1 | 27:769cb5a7ea37 | 237 | } |
lilac0112_1 | 27:769cb5a7ea37 | 238 | if((data.lnFlag[B_SPOT]==1)&&(1)){ |
lilac0112_1 | 27:769cb5a7ea37 | 239 | moveLnFlag[B_SPOT]=0; |
lilac0112_1 | 27:769cb5a7ea37 | 240 | moveLnlog[B_SPOT] = data.motorlog[X_AXIS]; |
lilac0112_1 | 27:769cb5a7ea37 | 241 | } |
lilac0112_1 | 27:769cb5a7ea37 | 242 | if((data.lnFlag[C_SPOT]==1)&&(1)){ |
lilac0112_1 | 27:769cb5a7ea37 | 243 | moveLnFlag[C_SPOT]=0; |
lilac0112_1 | 27:769cb5a7ea37 | 244 | moveLnlog[C_SPOT] = data.motorlog[Y_AXIS]; |
lilac0112_1 | 27:769cb5a7ea37 | 245 | } |
lilac0112_1 | 27:769cb5a7ea37 | 246 | if((data.lnFlag[A_SPOT]==1)&&(data.lnFlag[B_SPOT]==1)){ |
lilac0112_1 | 27:769cb5a7ea37 | 247 | moveLnFlag[AB_SPOT]=0; |
lilac0112_1 | 27:769cb5a7ea37 | 248 | moveLnlog[AB_SPOT] = data.motorlog[Y_AXIS]; |
lilac0112_1 | 27:769cb5a7ea37 | 249 | } |
lilac0112_1 | 27:769cb5a7ea37 | 250 | |
lilac0112_1 | 27:769cb5a7ea37 | 251 | if(((data.motorlog[X_AXIS]-moveLnlog[A_SPOT])<(-RELEASE_VAL))&&(moveLnFlag[A_SPOT]==0)) moveLnFlag[A_SPOT]=1; |
lilac0112_1 | 27:769cb5a7ea37 | 252 | if(((data.motorlog[X_AXIS]-moveLnlog[B_SPOT])>(RELEASE_VAL))&&(moveLnFlag[B_SPOT]==0)) moveLnFlag[B_SPOT]=1; |
lilac0112_1 | 27:769cb5a7ea37 | 253 | if(((data.motorlog[Y_AXIS]-moveLnlog[C_SPOT])>(RELEASE_VAL))&&(moveLnFlag[C_SPOT]==0)) moveLnFlag[C_SPOT]=1; |
lilac0112_1 | 27:769cb5a7ea37 | 254 | if(((data.motorlog[Y_AXIS]-moveLnlog[AB_SPOT])<(-RELEASE_VAL))&&(moveLnFlag[AB_SPOT]==0)) moveLnFlag[AB_SPOT]=1; |
lilac0112_1 | 27:769cb5a7ea37 | 255 | |
lilac0112_1 | 27:769cb5a7ea37 | 256 | LineStop[X_AXIS] = (!((vx>0)&&(moveLnFlag[A_SPOT]==0)))*(!((vx<0)&&(moveLnFlag[B_SPOT]==0))); |
lilac0112_1 | 27:769cb5a7ea37 | 257 | LineStop[Y_AXIS] = (!((vy>0)&&(moveLnFlag[C_SPOT]==0)))*(!((vy<0)&&(moveLnFlag[AB_SPOT]==0))); |
lilac0112_1 | 26:fbb03281fc7d | 258 | |
lilac0112_1 | 27:769cb5a7ea37 | 259 | move( |
lilac0112_1 | 27:769cb5a7ea37 | 260 | vx*LineStop[X_AXIS], |
lilac0112_1 | 27:769cb5a7ea37 | 261 | vy*LineStop[Y_AXIS], |
lilac0112_1 | 27:769cb5a7ea37 | 262 | vs |
lilac0112_1 | 26:fbb03281fc7d | 263 | ); |
lilac0112_1 | 27:769cb5a7ea37 | 264 | if(data.MotorFlag==1){ |
lilac0112_1 | 27:769cb5a7ea37 | 265 | tx_motor(); |
lilac0112_1 | 27:769cb5a7ea37 | 266 | data.MotorFlag=0; |
lilac0112_1 | 27:769cb5a7ea37 | 267 | } |
lilac0112_1 | 21:d69a8f3c76e1 | 268 | return; |
lilac0112_1 | 21:d69a8f3c76e1 | 269 | } |
lilac0112_1 | 28:8ac6c3c1e643 | 270 | void modeDebug4(void){//solenoid |
lilac0112_1 | 28:8ac6c3c1e643 | 271 | if(data.KickFlag==1){ |
lilac0112_1 | 28:8ac6c3c1e643 | 272 | DriveSolenoid(); |
lilac0112_1 | 28:8ac6c3c1e643 | 273 | } |
lilac0112_1 | 21:d69a8f3c76e1 | 274 | return; |
lilac0112_1 | 21:d69a8f3c76e1 | 275 | } |
lilac0112_1 | 28:8ac6c3c1e643 | 276 | void modeDebug5(void){//cmpsTest |
lilac0112_1 | 28:8ac6c3c1e643 | 277 | if(data.IrFlag==1){ |
lilac0112_1 | 28:8ac6c3c1e643 | 278 | ReadIr(); |
lilac0112_1 | 28:8ac6c3c1e643 | 279 | data.IrFlag=0; |
lilac0112_1 | 28:8ac6c3c1e643 | 280 | } |
lilac0112_1 | 28:8ac6c3c1e643 | 281 | if(data.PidFlag==1){ |
lilac0112_1 | 28:8ac6c3c1e643 | 282 | PidUpdate(); |
lilac0112_1 | 28:8ac6c3c1e643 | 283 | data.PidFlag=0; |
lilac0112_1 | 28:8ac6c3c1e643 | 284 | } |
lilac0112_1 | 28:8ac6c3c1e643 | 285 | move(0,0,data.OutputPID); |
lilac0112_1 | 28:8ac6c3c1e643 | 286 | if(data.MotorFlag==1){ |
lilac0112_1 | 28:8ac6c3c1e643 | 287 | tx_motor(); |
lilac0112_1 | 28:8ac6c3c1e643 | 288 | data.MotorFlag=0; |
lilac0112_1 | 28:8ac6c3c1e643 | 289 | } |
lilac0112_1 | 28:8ac6c3c1e643 | 290 | |
lilac0112_1 | 19:342da3a5a474 | 291 | return; |
lilac0112_1 | 19:342da3a5a474 | 292 | } |