![](/media/cache/group/default_image.jpg.50x50_q85.jpg)
Main Program
Dependencies: mbed AQM1602 HMC6352 PID
main_processing/strategy/strategy.cpp@43:f11f68918299, 2016-02-05 (annotated)
- Committer:
- lilac0112_1
- Date:
- Fri Feb 05 11:01:03 2016 +0000
- Revision:
- 43:f11f68918299
- Parent:
- 42:02aaa806d929
- Child:
- 45:c23f25c00d0d
Turn Good Power Good Line soso
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 | 34:69bdf29a4442 | 25 | ir_x *= (double)(data.l_pow); |
lilac0112_1 | 34:69bdf29a4442 | 26 | ir_y *= (double)(data.l_pow); |
lilac0112_1 | 28:8ac6c3c1e643 | 27 | } |
lilac0112_1 | 28:8ac6c3c1e643 | 28 | else{ |
lilac0112_1 | 34:69bdf29a4442 | 29 | ir_x *= (double)(data.s_pow); |
lilac0112_1 | 34:69bdf29a4442 | 30 | ir_y *= (double)(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 | 42:02aaa806d929 | 63 | uint8_t HmcResetFlag; |
lilac0112_1 | 42:02aaa806d929 | 64 | void HmcReset(void){ |
lilac0112_1 | 42:02aaa806d929 | 65 | RN42_Reset=1; |
lilac0112_1 | 42:02aaa806d929 | 66 | wait_us(100); |
lilac0112_1 | 42:02aaa806d929 | 67 | RN42_Reset=0; |
lilac0112_1 | 42:02aaa806d929 | 68 | } |
lilac0112_1 | 42:02aaa806d929 | 69 | uint8_t PingFlag; |
lilac0112_1 | 42:02aaa806d929 | 70 | void ValidPing(void){ |
lilac0112_1 | 42:02aaa806d929 | 71 | if(PingFlag==0){ |
lilac0112_1 | 42:02aaa806d929 | 72 | PingFlag=1; |
lilac0112_1 | 42:02aaa806d929 | 73 | } |
lilac0112_1 | 42:02aaa806d929 | 74 | } |
lilac0112_1 | 35:a0421268ee95 | 75 | uint8_t LineReverseFlag; |
lilac0112_1 | 35:a0421268ee95 | 76 | void LineReverse(void){ |
lilac0112_1 | 35:a0421268ee95 | 77 | LineReverseFlag=0; |
lilac0112_1 | 35:a0421268ee95 | 78 | } |
lilac0112_1 | 40:f68474b1d5e7 | 79 | uint8_t LineSign[3]; |
lilac0112_1 | 40:f68474b1d5e7 | 80 | uint8_t LineFirst[2]; |
lilac0112_1 | 41:3cdcdec9c885 | 81 | void LineClear_A(void){LineSign[A_SPOT]=0;data.lnFlag[A_SPOT]=0;} |
lilac0112_1 | 41:3cdcdec9c885 | 82 | void LineClear_B(void){LineSign[B_SPOT]=0;data.lnFlag[B_SPOT]=0;} |
lilac0112_1 | 41:3cdcdec9c885 | 83 | void LineClear_C(void){LineSign[C_SPOT]=0;data.lnFlag[C_SPOT]=0;} |
lilac0112_1 | 40:f68474b1d5e7 | 84 | void LineCall_A(void){ |
lilac0112_1 | 41:3cdcdec9c885 | 85 | // |
lilac0112_1 | 40:f68474b1d5e7 | 86 | LineSign[A_SPOT] = 1; |
lilac0112_1 | 40:f68474b1d5e7 | 87 | if(LineSign[B_SPOT]==0){ |
lilac0112_1 | 40:f68474b1d5e7 | 88 | LineFirst[X_AXIS] = A_SPOT; |
lilac0112_1 | 40:f68474b1d5e7 | 89 | } |
lilac0112_1 | 40:f68474b1d5e7 | 90 | if((LineSign[A_SPOT]==1)&&(LineSign[B_SPOT]==1)){ |
lilac0112_1 | 40:f68474b1d5e7 | 91 | if(LineSign[C_SPOT]==0){ |
lilac0112_1 | 40:f68474b1d5e7 | 92 | LineFirst[Y_AXIS] = AB_SPOT; |
lilac0112_1 | 40:f68474b1d5e7 | 93 | } |
lilac0112_1 | 40:f68474b1d5e7 | 94 | } |
lilac0112_1 | 41:3cdcdec9c885 | 95 | // |
lilac0112_1 | 41:3cdcdec9c885 | 96 | if((Line[A_SPOT].read()==1)||(1)) data.lnFlag[A_SPOT]=1; |
lilac0112_1 | 41:3cdcdec9c885 | 97 | // |
lilac0112_1 | 42:02aaa806d929 | 98 | Line_timeout[A_SPOT].attach(&LineClear_A, LINE_DELAY); |
lilac0112_1 | 40:f68474b1d5e7 | 99 | } |
lilac0112_1 | 40:f68474b1d5e7 | 100 | void LineCall_B(void){ |
lilac0112_1 | 41:3cdcdec9c885 | 101 | // |
lilac0112_1 | 40:f68474b1d5e7 | 102 | LineSign[B_SPOT] = 1; |
lilac0112_1 | 40:f68474b1d5e7 | 103 | if(LineSign[A_SPOT]==0){ |
lilac0112_1 | 40:f68474b1d5e7 | 104 | LineFirst[X_AXIS] = B_SPOT; |
lilac0112_1 | 40:f68474b1d5e7 | 105 | } |
lilac0112_1 | 40:f68474b1d5e7 | 106 | if((LineSign[A_SPOT]==1)&&(LineSign[B_SPOT]==1)){ |
lilac0112_1 | 40:f68474b1d5e7 | 107 | if(LineSign[C_SPOT]==0){ |
lilac0112_1 | 40:f68474b1d5e7 | 108 | LineFirst[Y_AXIS] = AB_SPOT; |
lilac0112_1 | 40:f68474b1d5e7 | 109 | } |
lilac0112_1 | 40:f68474b1d5e7 | 110 | } |
lilac0112_1 | 41:3cdcdec9c885 | 111 | // |
lilac0112_1 | 41:3cdcdec9c885 | 112 | if((Line[B_SPOT].read()==1)||(1)) data.lnFlag[B_SPOT]=1; |
lilac0112_1 | 41:3cdcdec9c885 | 113 | // |
lilac0112_1 | 42:02aaa806d929 | 114 | Line_timeout[B_SPOT].attach(&LineClear_B, LINE_DELAY); |
lilac0112_1 | 40:f68474b1d5e7 | 115 | } |
lilac0112_1 | 40:f68474b1d5e7 | 116 | void LineCall_C(void){ |
lilac0112_1 | 41:3cdcdec9c885 | 117 | // |
lilac0112_1 | 40:f68474b1d5e7 | 118 | LineSign[C_SPOT] = 1; |
lilac0112_1 | 40:f68474b1d5e7 | 119 | if(!((LineSign[A_SPOT]==1)&&(LineSign[B_SPOT]==1))){ |
lilac0112_1 | 40:f68474b1d5e7 | 120 | LineFirst[Y_AXIS] = C_SPOT; |
lilac0112_1 | 40:f68474b1d5e7 | 121 | } |
lilac0112_1 | 41:3cdcdec9c885 | 122 | // |
lilac0112_1 | 41:3cdcdec9c885 | 123 | if((Line[C_SPOT].read()==1)||(1)) data.lnFlag[C_SPOT]=1; |
lilac0112_1 | 41:3cdcdec9c885 | 124 | // |
lilac0112_1 | 42:02aaa806d929 | 125 | Line_timeout[C_SPOT].attach(&LineClear_C, LINE_DELAY); |
lilac0112_1 | 40:f68474b1d5e7 | 126 | } |
lilac0112_1 | 28:8ac6c3c1e643 | 127 | void modeAttack1(void){ |
lilac0112_1 | 31:0b0f64831771 | 128 | double ir_x, ir_y; |
lilac0112_1 | 31:0b0f64831771 | 129 | int vx,vy,vs; |
lilac0112_1 | 31:0b0f64831771 | 130 | uint8_t LineDir[4]; |
lilac0112_1 | 31:0b0f64831771 | 131 | uint8_t LineStop[2]; |
lilac0112_1 | 34:69bdf29a4442 | 132 | uint8_t IrRange[4]; |
lilac0112_1 | 35:a0421268ee95 | 133 | uint8_t LinePulse[4]; |
lilac0112_1 | 34:69bdf29a4442 | 134 | uint8_t static LineBind[4]; |
lilac0112_1 | 34:69bdf29a4442 | 135 | if(data.KickOffFlag==1){ |
lilac0112_1 | 34:69bdf29a4442 | 136 | LineBind[0]=0; |
lilac0112_1 | 34:69bdf29a4442 | 137 | LineBind[1]=0; |
lilac0112_1 | 34:69bdf29a4442 | 138 | LineBind[2]=0; |
lilac0112_1 | 34:69bdf29a4442 | 139 | LineBind[3]=0; |
lilac0112_1 | 35:a0421268ee95 | 140 | LineReverseFlag=0; |
lilac0112_1 | 40:f68474b1d5e7 | 141 | |
lilac0112_1 | 40:f68474b1d5e7 | 142 | LineSign[A_SPOT]=0; |
lilac0112_1 | 40:f68474b1d5e7 | 143 | LineSign[B_SPOT]=0; |
lilac0112_1 | 40:f68474b1d5e7 | 144 | LineSign[C_SPOT]=0; |
lilac0112_1 | 40:f68474b1d5e7 | 145 | |
lilac0112_1 | 41:3cdcdec9c885 | 146 | data.lnFlag[A_SPOT]=0; |
lilac0112_1 | 41:3cdcdec9c885 | 147 | data.lnFlag[B_SPOT]=0; |
lilac0112_1 | 41:3cdcdec9c885 | 148 | data.lnFlag[C_SPOT]=0; |
lilac0112_1 | 41:3cdcdec9c885 | 149 | |
lilac0112_1 | 34:69bdf29a4442 | 150 | data.KickOffFlag=0; |
lilac0112_1 | 34:69bdf29a4442 | 151 | } |
lilac0112_1 | 31:0b0f64831771 | 152 | if(data.IrFlag==1){ |
lilac0112_1 | 31:0b0f64831771 | 153 | ReadIr(); |
lilac0112_1 | 31:0b0f64831771 | 154 | data.IrFlag=0; |
lilac0112_1 | 31:0b0f64831771 | 155 | } |
lilac0112_1 | 31:0b0f64831771 | 156 | if(data.PidFlag==1){ |
lilac0112_1 | 41:3cdcdec9c885 | 157 | //Line_ticker.detach(); |
lilac0112_1 | 31:0b0f64831771 | 158 | PidUpdate(); |
lilac0112_1 | 41:3cdcdec9c885 | 159 | //Line_ticker.attach(&ReadLine, 0.005); |
lilac0112_1 | 31:0b0f64831771 | 160 | data.PidFlag=0; |
lilac0112_1 | 31:0b0f64831771 | 161 | } |
lilac0112_1 | 31:0b0f64831771 | 162 | ir_x = ir_move_val[data.irNotice][data.irPosition][IR_X]; |
lilac0112_1 | 31:0b0f64831771 | 163 | ir_y = ir_move_val[data.irNotice][data.irPosition][IR_Y]; |
lilac0112_1 | 31:0b0f64831771 | 164 | if(data.irPosition<8){ |
lilac0112_1 | 31:0b0f64831771 | 165 | ir_x *= data.l_pow; |
lilac0112_1 | 31:0b0f64831771 | 166 | ir_y *= data.l_pow; |
lilac0112_1 | 31:0b0f64831771 | 167 | } |
lilac0112_1 | 31:0b0f64831771 | 168 | else{ |
lilac0112_1 | 31:0b0f64831771 | 169 | ir_x *= data.s_pow; |
lilac0112_1 | 31:0b0f64831771 | 170 | ir_y *= data.s_pow; |
lilac0112_1 | 31:0b0f64831771 | 171 | } |
lilac0112_1 | 31:0b0f64831771 | 172 | |
lilac0112_1 | 31:0b0f64831771 | 173 | //Lineを考慮していないIrのみの値 |
lilac0112_1 | 31:0b0f64831771 | 174 | vx = ir_x; |
lilac0112_1 | 31:0b0f64831771 | 175 | vy = ir_y; |
lilac0112_1 | 31:0b0f64831771 | 176 | //Line検出方向を調べる |
lilac0112_1 | 35:a0421268ee95 | 177 | LineDir[A_SPOT] = (!((vx>0)&&((data.lnFlag[A_SPOT]==1)&&(data.lnFlag[B_SPOT]==0))&&(1))); |
lilac0112_1 | 35:a0421268ee95 | 178 | LineDir[B_SPOT] = (!((vx<0)&&((data.lnFlag[A_SPOT]==0)&&(data.lnFlag[B_SPOT]==1))&&(1))); |
lilac0112_1 | 35:a0421268ee95 | 179 | LineDir[C_SPOT] = (!((vy<0)&&((data.lnFlag[C_SPOT]==1)&&(1 ))&&(1))); |
lilac0112_1 | 35:a0421268ee95 | 180 | LineDir[AB_SPOT] = (!((vy>0)&&((data.lnFlag[A_SPOT]==1)&&(data.lnFlag[B_SPOT]==1))&&(1))); |
lilac0112_1 | 31:0b0f64831771 | 181 | |
lilac0112_1 | 31:0b0f64831771 | 182 | LineStop[X_AXIS] = LineDir[A_SPOT]*LineDir[B_SPOT]; |
lilac0112_1 | 31:0b0f64831771 | 183 | LineStop[Y_AXIS] = LineDir[C_SPOT]*LineDir[AB_SPOT]; |
lilac0112_1 | 31:0b0f64831771 | 184 | |
lilac0112_1 | 34:69bdf29a4442 | 185 | //Ir |
lilac0112_1 | 36:50092d488f78 | 186 | //strict |
lilac0112_1 | 36:50092d488f78 | 187 | /* |
lilac0112_1 | 34:69bdf29a4442 | 188 | IrRange[A_SPOT] = ((18<=data.irPosition)&&(data.irPosition<=19))||((8<=data.irPosition)&&(data.irPosition<=10)) |
lilac0112_1 | 34:69bdf29a4442 | 189 | ||((6<=data.irPosition)&&(data.irPosition<=7))||(( 1)&&(data.irPosition<=1)); |
lilac0112_1 | 34:69bdf29a4442 | 190 | IrRange[B_SPOT] = ((12<=data.irPosition)&&(data.irPosition<=16))||((2<=data.irPosition)&&(data.irPosition<=5)); |
lilac0112_1 | 34:69bdf29a4442 | 191 | IrRange[C_SPOT] = ((15<=data.irPosition)&&(data.irPosition<=19))||((4<=data.irPosition)&&(data.irPosition<=7)); |
lilac0112_1 | 34:69bdf29a4442 | 192 | IrRange[AB_SPOT] = ((9<=data.irPosition)&&(data.irPosition<=13))||(( 1)&&(data.irPosition<=3)); |
lilac0112_1 | 36:50092d488f78 | 193 | */ |
lilac0112_1 | 36:50092d488f78 | 194 | //sweet |
lilac0112_1 | 36:50092d488f78 | 195 | IrRange[A_SPOT] = ((19<=data.irPosition)&&(data.irPosition<=19))||((8<=data.irPosition)&&(data.irPosition<=9)) |
lilac0112_1 | 36:50092d488f78 | 196 | ||((6<=data.irPosition)&&(data.irPosition<=7))||(( 1)&&(data.irPosition<=1)); |
lilac0112_1 | 36:50092d488f78 | 197 | IrRange[B_SPOT] = ((13<=data.irPosition)&&(data.irPosition<=15))||((2<=data.irPosition)&&(data.irPosition<=5)); |
lilac0112_1 | 36:50092d488f78 | 198 | IrRange[C_SPOT] = ((16<=data.irPosition)&&(data.irPosition<=18))||((4<=data.irPosition)&&(data.irPosition<=7)); |
lilac0112_1 | 36:50092d488f78 | 199 | IrRange[AB_SPOT] = ((10<=data.irPosition)&&(data.irPosition<=12))||(( 1)&&(data.irPosition<=3)); |
lilac0112_1 | 34:69bdf29a4442 | 200 | |
lilac0112_1 | 35:a0421268ee95 | 201 | |
lilac0112_1 | 35:a0421268ee95 | 202 | LinePulse[A_SPOT] = ((IrRange[A_SPOT]==1)&&(LineDir[A_SPOT]==0)); |
lilac0112_1 | 35:a0421268ee95 | 203 | LinePulse[B_SPOT] = ((IrRange[B_SPOT]==1)&&(LineDir[B_SPOT]==0)); |
lilac0112_1 | 35:a0421268ee95 | 204 | LinePulse[C_SPOT] = ((IrRange[C_SPOT]==1)&&(LineDir[C_SPOT]==0)); |
lilac0112_1 | 35:a0421268ee95 | 205 | LinePulse[AB_SPOT] = ((IrRange[AB_SPOT]==1)&&(LineDir[AB_SPOT]==0)); |
lilac0112_1 | 35:a0421268ee95 | 206 | |
lilac0112_1 | 35:a0421268ee95 | 207 | LineBind[A_SPOT] = ((LinePulse[A_SPOT])||((IrRange[A_SPOT]==1)&&(LineBind[A_SPOT]==1)))&&(LineBind[B_SPOT]==0); |
lilac0112_1 | 35:a0421268ee95 | 208 | LineBind[B_SPOT] = ((LinePulse[B_SPOT])||((IrRange[B_SPOT]==1)&&(LineBind[B_SPOT]==1)))&&(LineBind[A_SPOT]==0); |
lilac0112_1 | 35:a0421268ee95 | 209 | LineBind[C_SPOT] = ((LinePulse[C_SPOT])||((IrRange[C_SPOT]==1)&&(LineBind[C_SPOT]==1)))&&(LineBind[AB_SPOT]==0); |
lilac0112_1 | 35:a0421268ee95 | 210 | LineBind[AB_SPOT] = ((LinePulse[AB_SPOT])||((IrRange[AB_SPOT]==1)&&(LineBind[AB_SPOT]==1)))&&(LineBind[C_SPOT]==0); |
lilac0112_1 | 35:a0421268ee95 | 211 | /* |
lilac0112_1 | 34:69bdf29a4442 | 212 | LineBind[A_SPOT] = ((IrRange[A_SPOT]==1)&&((LineDir[A_SPOT]==0)||(LineBind[A_SPOT]==1))); |
lilac0112_1 | 34:69bdf29a4442 | 213 | LineBind[B_SPOT] = ((IrRange[B_SPOT]==1)&&((LineDir[B_SPOT]==0)||(LineBind[B_SPOT]==1))); |
lilac0112_1 | 34:69bdf29a4442 | 214 | LineBind[C_SPOT] = ((IrRange[C_SPOT]==1)&&((LineDir[C_SPOT]==0)||(LineBind[C_SPOT]==1))); |
lilac0112_1 | 34:69bdf29a4442 | 215 | LineBind[AB_SPOT] = ((IrRange[AB_SPOT]==1)&&((LineDir[AB_SPOT]==0)||(LineBind[AB_SPOT]==1))); |
lilac0112_1 | 35:a0421268ee95 | 216 | */ |
lilac0112_1 | 37:ae5661306900 | 217 | vx = vx*LineStop[X_AXIS] + (LINE_RF)*(vy!=0)*((-1)*(LineDir[A_SPOT]==0) + (LineDir[B_SPOT]==0)); |
lilac0112_1 | 37:ae5661306900 | 218 | vy = vy*LineStop[Y_AXIS] + (LINE_RF)*(vx!=0)*((LineDir[C_SPOT]==0) + (-1)*(LineDir[AB_SPOT]==0)); |
lilac0112_1 | 37:ae5661306900 | 219 | vs = data.OutputPID; |
lilac0112_1 | 34:69bdf29a4442 | 220 | if((LineBind[A_SPOT]==1)||(LineBind[B_SPOT]==1)||(LineBind[C_SPOT]==1)||(LineBind[AB_SPOT]==1)){ |
lilac0112_1 | 37:ae5661306900 | 221 | if(RawLineSignal>0){ |
lilac0112_1 | 37:ae5661306900 | 222 | vx=(LINE_RF*2)*((-1)*IrRange[A_SPOT] + IrRange[B_SPOT]); |
lilac0112_1 | 37:ae5661306900 | 223 | vy=(LINE_RF*2)*( IrRange[C_SPOT] + (-1)*IrRange[AB_SPOT]); |
lilac0112_1 | 40:f68474b1d5e7 | 224 | /*vx=(LINE_RF*2)*((-1)*(LineFirst[X_AXIS] == A_SPOT) + (LineFirst[X_AXIS] == B_SPOT)); |
lilac0112_1 | 40:f68474b1d5e7 | 225 | vy=(LINE_RF*2)*( (LineFirst[Y_AXIS] == C_SPOT) + (-1)*(LineFirst[Y_AXIS] == AB_SPOT)); |
lilac0112_1 | 42:02aaa806d929 | 226 | Line_timeout[A_SPOT].attach(&LineClear_A, LINE_DELAY); |
lilac0112_1 | 42:02aaa806d929 | 227 | Line_timeout[B_SPOT].attach(&LineClear_B, LINE_DELAY); |
lilac0112_1 | 42:02aaa806d929 | 228 | Line_timeout[C_SPOT].attach(&LineClear_C, LINE_DELAY);*/ |
lilac0112_1 | 35:a0421268ee95 | 229 | } |
lilac0112_1 | 35:a0421268ee95 | 230 | else{ |
lilac0112_1 | 35:a0421268ee95 | 231 | vx=0; |
lilac0112_1 | 35:a0421268ee95 | 232 | vy=0; |
lilac0112_1 | 35:a0421268ee95 | 233 | } |
lilac0112_1 | 31:0b0f64831771 | 234 | } |
lilac0112_1 | 41:3cdcdec9c885 | 235 | if(RawLineSignal>0){ |
lilac0112_1 | 42:02aaa806d929 | 236 | Line_timeout[A_SPOT].attach(&LineClear_A, LINE_DELAY); |
lilac0112_1 | 42:02aaa806d929 | 237 | Line_timeout[B_SPOT].attach(&LineClear_B, LINE_DELAY); |
lilac0112_1 | 42:02aaa806d929 | 238 | Line_timeout[C_SPOT].attach(&LineClear_C, LINE_DELAY); |
lilac0112_1 | 41:3cdcdec9c885 | 239 | } |
lilac0112_1 | 31:0b0f64831771 | 240 | move( |
lilac0112_1 | 37:ae5661306900 | 241 | vx, |
lilac0112_1 | 37:ae5661306900 | 242 | vy, |
lilac0112_1 | 31:0b0f64831771 | 243 | vs |
lilac0112_1 | 31:0b0f64831771 | 244 | ); |
lilac0112_1 | 31:0b0f64831771 | 245 | if(data.MotorFlag==1){ |
lilac0112_1 | 31:0b0f64831771 | 246 | tx_motor(); |
lilac0112_1 | 31:0b0f64831771 | 247 | data.MotorFlag=0; |
lilac0112_1 | 31:0b0f64831771 | 248 | } |
lilac0112_1 | 28:8ac6c3c1e643 | 249 | return; |
lilac0112_1 | 28:8ac6c3c1e643 | 250 | } |
lilac0112_1 | 28:8ac6c3c1e643 | 251 | void modeAttack2(void){ |
lilac0112_1 | 42:02aaa806d929 | 252 | double ir_x, ir_y; |
lilac0112_1 | 42:02aaa806d929 | 253 | int vx,vy,vs, LineForce[2]; |
lilac0112_1 | 42:02aaa806d929 | 254 | uint8_t LineDir[4]; |
lilac0112_1 | 42:02aaa806d929 | 255 | uint8_t LineOn[4]; |
lilac0112_1 | 43:f11f68918299 | 256 | uint8_t LineReturn[4]; |
lilac0112_1 | 42:02aaa806d929 | 257 | uint8_t LineStop[2]; |
lilac0112_1 | 42:02aaa806d929 | 258 | uint8_t IrRange[4]; |
lilac0112_1 | 42:02aaa806d929 | 259 | uint8_t static LineBind[4]; |
lilac0112_1 | 43:f11f68918299 | 260 | uint8_t static spi_count; |
lilac0112_1 | 42:02aaa806d929 | 261 | if(data.KickOffFlag==1){ |
lilac0112_1 | 42:02aaa806d929 | 262 | LineBind[0]=0; |
lilac0112_1 | 42:02aaa806d929 | 263 | LineBind[1]=0; |
lilac0112_1 | 42:02aaa806d929 | 264 | LineBind[2]=0; |
lilac0112_1 | 42:02aaa806d929 | 265 | LineBind[3]=0; |
lilac0112_1 | 42:02aaa806d929 | 266 | LineReverseFlag=0; |
lilac0112_1 | 42:02aaa806d929 | 267 | |
lilac0112_1 | 42:02aaa806d929 | 268 | LineSign[A_SPOT]=0; |
lilac0112_1 | 42:02aaa806d929 | 269 | LineSign[B_SPOT]=0; |
lilac0112_1 | 42:02aaa806d929 | 270 | LineSign[C_SPOT]=0; |
lilac0112_1 | 42:02aaa806d929 | 271 | |
lilac0112_1 | 42:02aaa806d929 | 272 | data.lnFlag[A_SPOT]=0; |
lilac0112_1 | 42:02aaa806d929 | 273 | data.lnFlag[B_SPOT]=0; |
lilac0112_1 | 42:02aaa806d929 | 274 | data.lnFlag[C_SPOT]=0; |
lilac0112_1 | 42:02aaa806d929 | 275 | |
lilac0112_1 | 42:02aaa806d929 | 276 | HmcResetFlag = 0; |
lilac0112_1 | 42:02aaa806d929 | 277 | PingFlag = 0; |
lilac0112_1 | 43:f11f68918299 | 278 | spi_count=0; |
lilac0112_1 | 42:02aaa806d929 | 279 | |
lilac0112_1 | 42:02aaa806d929 | 280 | data.KickOffFlag=0; |
lilac0112_1 | 42:02aaa806d929 | 281 | } |
lilac0112_1 | 42:02aaa806d929 | 282 | if(data.IrFlag==1){ |
lilac0112_1 | 43:f11f68918299 | 283 | /*spi_count++; |
lilac0112_1 | 43:f11f68918299 | 284 | if(spi_count%10 == 0){ |
lilac0112_1 | 43:f11f68918299 | 285 | ReadPing(); |
lilac0112_1 | 43:f11f68918299 | 286 | } |
lilac0112_1 | 43:f11f68918299 | 287 | else{ |
lilac0112_1 | 43:f11f68918299 | 288 | ReadIr(); |
lilac0112_1 | 43:f11f68918299 | 289 | } |
lilac0112_1 | 43:f11f68918299 | 290 | if(spi_count==20) spi_count=0; |
lilac0112_1 | 43:f11f68918299 | 291 | */ |
lilac0112_1 | 42:02aaa806d929 | 292 | ReadIr(); |
lilac0112_1 | 42:02aaa806d929 | 293 | data.IrFlag=0; |
lilac0112_1 | 42:02aaa806d929 | 294 | } |
lilac0112_1 | 42:02aaa806d929 | 295 | if(data.PidFlag==1){ |
lilac0112_1 | 42:02aaa806d929 | 296 | PidUpdate(); |
lilac0112_1 | 42:02aaa806d929 | 297 | data.PidFlag=0; |
lilac0112_1 | 42:02aaa806d929 | 298 | } |
lilac0112_1 | 42:02aaa806d929 | 299 | if(PingFlag==1){ |
lilac0112_1 | 42:02aaa806d929 | 300 | ReadPing(); |
lilac0112_1 | 42:02aaa806d929 | 301 | PingFlag=0; |
lilac0112_1 | 42:02aaa806d929 | 302 | } |
lilac0112_1 | 43:f11f68918299 | 303 | /* |
lilac0112_1 | 42:02aaa806d929 | 304 | if(HmcResetFlag==1){ |
lilac0112_1 | 42:02aaa806d929 | 305 | HmcReset(); |
lilac0112_1 | 42:02aaa806d929 | 306 | HmcResetFlag=0; |
lilac0112_1 | 42:02aaa806d929 | 307 | } |
lilac0112_1 | 42:02aaa806d929 | 308 | */ |
lilac0112_1 | 42:02aaa806d929 | 309 | ir_x = ir_move_val[data.irNotice][data.irPosition][IR_X]; |
lilac0112_1 | 42:02aaa806d929 | 310 | ir_y = ir_move_val[data.irNotice][data.irPosition][IR_Y]; |
lilac0112_1 | 42:02aaa806d929 | 311 | if(data.irPosition<8){ |
lilac0112_1 | 42:02aaa806d929 | 312 | ir_x *= data.l_pow; |
lilac0112_1 | 42:02aaa806d929 | 313 | ir_y *= data.l_pow; |
lilac0112_1 | 42:02aaa806d929 | 314 | } |
lilac0112_1 | 42:02aaa806d929 | 315 | else{ |
lilac0112_1 | 42:02aaa806d929 | 316 | ir_x *= data.s_pow; |
lilac0112_1 | 42:02aaa806d929 | 317 | ir_y *= data.s_pow; |
lilac0112_1 | 42:02aaa806d929 | 318 | } |
lilac0112_1 | 42:02aaa806d929 | 319 | |
lilac0112_1 | 42:02aaa806d929 | 320 | //Lineを考慮していないIrのみの値 |
lilac0112_1 | 42:02aaa806d929 | 321 | vx = ir_x; |
lilac0112_1 | 42:02aaa806d929 | 322 | vy = ir_y; |
lilac0112_1 | 42:02aaa806d929 | 323 | |
lilac0112_1 | 42:02aaa806d929 | 324 | if((data.irPosition==11)&&(vy>0)){ |
lilac0112_1 | 42:02aaa806d929 | 325 | vy += 10;//前進加速 |
lilac0112_1 | 42:02aaa806d929 | 326 | } |
lilac0112_1 | 43:f11f68918299 | 327 | /*if((data.irPosition==17)&&(data.motorlog[X_AXIS]>0)){ |
lilac0112_1 | 42:02aaa806d929 | 328 | vx *= -1.0;//背後回り込みの左右判断 |
lilac0112_1 | 43:f11f68918299 | 329 | }*/ |
lilac0112_1 | 43:f11f68918299 | 330 | |
lilac0112_1 | 42:02aaa806d929 | 331 | if((data.irPosition==17)&&(data.ping[L_PING]>data.ping[R_PING])){ |
lilac0112_1 | 42:02aaa806d929 | 332 | vx *= -1.0;//背後回り込みの左右判断 |
lilac0112_1 | 42:02aaa806d929 | 333 | } |
lilac0112_1 | 43:f11f68918299 | 334 | |
lilac0112_1 | 42:02aaa806d929 | 335 | //Lineを踏み始めた方向を調べる |
lilac0112_1 | 42:02aaa806d929 | 336 | LineDir[A_SPOT] = (vx>0)&&((data.lnFlag[A_SPOT]==1)&&(1 ))&&(LineFirst[X_AXIS] == A_SPOT); |
lilac0112_1 | 42:02aaa806d929 | 337 | LineDir[B_SPOT] = (vx<0)&&((data.lnFlag[B_SPOT]==1)&&(1 ))&&(LineFirst[X_AXIS] == B_SPOT); |
lilac0112_1 | 42:02aaa806d929 | 338 | LineDir[C_SPOT] = (vy<0)&&((data.lnFlag[C_SPOT]==1)&&(1 ))&&(LineFirst[Y_AXIS] == C_SPOT); |
lilac0112_1 | 42:02aaa806d929 | 339 | LineDir[AB_SPOT]= (vy>0)&&((data.lnFlag[A_SPOT]==1)&&(data.lnFlag[B_SPOT]==1))&&(LineFirst[Y_AXIS] == AB_SPOT); |
lilac0112_1 | 42:02aaa806d929 | 340 | |
lilac0112_1 | 42:02aaa806d929 | 341 | //Irボールの方向 |
lilac0112_1 | 42:02aaa806d929 | 342 | //strict |
lilac0112_1 | 42:02aaa806d929 | 343 | /* |
lilac0112_1 | 42:02aaa806d929 | 344 | IrRange[A_SPOT] = ((18<=data.irPosition)&&(data.irPosition<=19))||((8<=data.irPosition)&&(data.irPosition<=10)) |
lilac0112_1 | 42:02aaa806d929 | 345 | ||((6<=data.irPosition)&&(data.irPosition<=7))||(( 1)&&(data.irPosition<=1)); |
lilac0112_1 | 42:02aaa806d929 | 346 | IrRange[B_SPOT] = ((12<=data.irPosition)&&(data.irPosition<=16))||((2<=data.irPosition)&&(data.irPosition<=5)); |
lilac0112_1 | 42:02aaa806d929 | 347 | IrRange[C_SPOT] = ((15<=data.irPosition)&&(data.irPosition<=19))||((4<=data.irPosition)&&(data.irPosition<=7)); |
lilac0112_1 | 42:02aaa806d929 | 348 | IrRange[AB_SPOT] = ((9<=data.irPosition)&&(data.irPosition<=13))||(( 1)&&(data.irPosition<=3)); |
lilac0112_1 | 42:02aaa806d929 | 349 | */ |
lilac0112_1 | 42:02aaa806d929 | 350 | //sweet |
lilac0112_1 | 42:02aaa806d929 | 351 | IrRange[A_SPOT] = ((19<=data.irPosition)&&(data.irPosition<=19))||((8<=data.irPosition)&&(data.irPosition<=9)) |
lilac0112_1 | 42:02aaa806d929 | 352 | ||((6<=data.irPosition)&&(data.irPosition<=7))||(( 1)&&(data.irPosition<=1)); |
lilac0112_1 | 42:02aaa806d929 | 353 | IrRange[B_SPOT] = ((13<=data.irPosition)&&(data.irPosition<=15))||((2<=data.irPosition)&&(data.irPosition<=5)); |
lilac0112_1 | 42:02aaa806d929 | 354 | IrRange[C_SPOT] = ((16<=data.irPosition)&&(data.irPosition<=18))||((4<=data.irPosition)&&(data.irPosition<=7)); |
lilac0112_1 | 42:02aaa806d929 | 355 | IrRange[AB_SPOT] = ((10<=data.irPosition)&&(data.irPosition<=12))||(( 1)&&(data.irPosition<=3)); |
lilac0112_1 | 43:f11f68918299 | 356 | //none |
lilac0112_1 | 43:f11f68918299 | 357 | if(data.irNotice==IR_NONE){ |
lilac0112_1 | 43:f11f68918299 | 358 | IrRange[A_SPOT] = 0; |
lilac0112_1 | 43:f11f68918299 | 359 | IrRange[B_SPOT] = 0; |
lilac0112_1 | 43:f11f68918299 | 360 | IrRange[C_SPOT] = 0; |
lilac0112_1 | 43:f11f68918299 | 361 | IrRange[AB_SPOT] = 0; |
lilac0112_1 | 43:f11f68918299 | 362 | } |
lilac0112_1 | 42:02aaa806d929 | 363 | //白線を踏み始めた方向とボールの方向が一致.(SelfHold) |
lilac0112_1 | 42:02aaa806d929 | 364 | LineBind[A_SPOT] = (IrRange[A_SPOT]==1)&&((LineDir[A_SPOT]==1)||(LineBind[A_SPOT]==1)); |
lilac0112_1 | 42:02aaa806d929 | 365 | LineBind[B_SPOT] = (IrRange[B_SPOT]==1)&&((LineDir[B_SPOT]==1)||(LineBind[B_SPOT]==1)); |
lilac0112_1 | 42:02aaa806d929 | 366 | LineBind[C_SPOT] = (IrRange[C_SPOT]==1)&&((LineDir[C_SPOT]==1)||(LineBind[C_SPOT]==1)); |
lilac0112_1 | 42:02aaa806d929 | 367 | LineBind[AB_SPOT] = (IrRange[AB_SPOT]==1)&&((LineDir[AB_SPOT]==1)||(LineBind[AB_SPOT]==1)); |
lilac0112_1 | 42:02aaa806d929 | 368 | |
lilac0112_1 | 43:f11f68918299 | 369 | LineStop[X_AXIS] = 1;//(LineBind[A_SPOT]==0)*(LineBind[B_SPOT]==0); |
lilac0112_1 | 43:f11f68918299 | 370 | LineStop[Y_AXIS] = 1;//(LineBind[C_SPOT]==0)*(LineBind[AB_SPOT]==0); |
lilac0112_1 | 42:02aaa806d929 | 371 | |
lilac0112_1 | 42:02aaa806d929 | 372 | //白線踏んでる |
lilac0112_1 | 42:02aaa806d929 | 373 | if(RawLineSignal>0){ |
lilac0112_1 | 42:02aaa806d929 | 374 | LineOn[A_SPOT] = (LineSign[A_SPOT]==1) &&(LineFirst[X_AXIS]==A_SPOT); |
lilac0112_1 | 42:02aaa806d929 | 375 | LineOn[B_SPOT] = (LineSign[B_SPOT]==1) &&(LineFirst[X_AXIS]==B_SPOT); |
lilac0112_1 | 42:02aaa806d929 | 376 | LineOn[C_SPOT] = (LineSign[C_SPOT]==1) &&(LineFirst[Y_AXIS]==C_SPOT); |
lilac0112_1 | 42:02aaa806d929 | 377 | LineOn[AB_SPOT] = ((LineSign[A_SPOT]==1)&&(LineSign[B_SPOT]==1))&&(LineFirst[Y_AXIS]==AB_SPOT); |
lilac0112_1 | 42:02aaa806d929 | 378 | //外側に向かう力を消す. |
lilac0112_1 | 42:02aaa806d929 | 379 | //x |
lilac0112_1 | 42:02aaa806d929 | 380 | if(((LineOn[A_SPOT]==1)&&(vx>0))||((LineOn[B_SPOT]==1)&&(vx<0))){ |
lilac0112_1 | 42:02aaa806d929 | 381 | vx=0; |
lilac0112_1 | 42:02aaa806d929 | 382 | //yの力を加える. |
lilac0112_1 | 42:02aaa806d929 | 383 | if(vy>0){vy += 10;} |
lilac0112_1 | 42:02aaa806d929 | 384 | if(vy<0){vy -= 10;} |
lilac0112_1 | 42:02aaa806d929 | 385 | } |
lilac0112_1 | 42:02aaa806d929 | 386 | //y |
lilac0112_1 | 42:02aaa806d929 | 387 | if(((LineOn[C_SPOT]==1)&&(vy<0))||((LineOn[AB_SPOT]==1)&&(vy>0))){ |
lilac0112_1 | 42:02aaa806d929 | 388 | vy=0; |
lilac0112_1 | 42:02aaa806d929 | 389 | } |
lilac0112_1 | 42:02aaa806d929 | 390 | //内側に向かう力を加える. |
lilac0112_1 | 43:f11f68918299 | 391 | LineReturn[A_SPOT] = (LineOn[A_SPOT]==1); |
lilac0112_1 | 43:f11f68918299 | 392 | if((LineReturn[A_SPOT]==1)&&(LineOn[AB_SPOT]==1)){ |
lilac0112_1 | 43:f11f68918299 | 393 | if(LineOn[C_SPOT]==0){ |
lilac0112_1 | 43:f11f68918299 | 394 | LineReturn[A_SPOT]=0; |
lilac0112_1 | 43:f11f68918299 | 395 | } |
lilac0112_1 | 43:f11f68918299 | 396 | else{ |
lilac0112_1 | 43:f11f68918299 | 397 | LineReturn[A_SPOT]=1; |
lilac0112_1 | 43:f11f68918299 | 398 | } |
lilac0112_1 | 43:f11f68918299 | 399 | } |
lilac0112_1 | 43:f11f68918299 | 400 | |
lilac0112_1 | 43:f11f68918299 | 401 | LineReturn[B_SPOT] = (LineOn[B_SPOT]==1); |
lilac0112_1 | 43:f11f68918299 | 402 | if((LineReturn[B_SPOT]==1)&&(LineOn[AB_SPOT]==1)){ |
lilac0112_1 | 43:f11f68918299 | 403 | if(LineOn[C_SPOT]==0){ |
lilac0112_1 | 43:f11f68918299 | 404 | LineReturn[B_SPOT]=0; |
lilac0112_1 | 43:f11f68918299 | 405 | } |
lilac0112_1 | 43:f11f68918299 | 406 | else{ |
lilac0112_1 | 43:f11f68918299 | 407 | LineReturn[B_SPOT]=1; |
lilac0112_1 | 43:f11f68918299 | 408 | } |
lilac0112_1 | 43:f11f68918299 | 409 | } |
lilac0112_1 | 43:f11f68918299 | 410 | LineReturn[C_SPOT] = (LineOn[C_SPOT]==1); |
lilac0112_1 | 43:f11f68918299 | 411 | if(LineReturn[C_SPOT]==1){ |
lilac0112_1 | 43:f11f68918299 | 412 | LineReturn[A_SPOT]=0; |
lilac0112_1 | 43:f11f68918299 | 413 | LineReturn[B_SPOT]=0; |
lilac0112_1 | 43:f11f68918299 | 414 | } |
lilac0112_1 | 43:f11f68918299 | 415 | LineReturn[AB_SPOT] = (LineOn[AB_SPOT]==1); |
lilac0112_1 | 43:f11f68918299 | 416 | |
lilac0112_1 | 43:f11f68918299 | 417 | LineForce[X_AXIS] = (LINE_RF*2)*((-1)*(LineReturn[A_SPOT]==1) + ( 1)*(LineReturn[B_SPOT]==1)) + |
lilac0112_1 | 43:f11f68918299 | 418 | (LINE_RF*2)*(LineReturn[AB_SPOT]==1)*(LineReturn[A_SPOT]==0)*(LineReturn[B_SPOT]==0) |
lilac0112_1 | 43:f11f68918299 | 419 | *(( 1)*(data.ping[L_PING]<30) + (-1)*(data.ping[R_PING]<30)) + |
lilac0112_1 | 43:f11f68918299 | 420 | (LINE_RF*2)*(LineReturn[C_SPOT]==1)*(LineReturn[A_SPOT]==0)*(LineReturn[B_SPOT]==0) |
lilac0112_1 | 43:f11f68918299 | 421 | *(( 1)*(data.ping[L_PING]<30) + (-1)*(data.ping[R_PING]<30)); |
lilac0112_1 | 43:f11f68918299 | 422 | LineForce[Y_AXIS] = (LINE_RF*2)*(( 1)*(LineReturn[C_SPOT]==1) + (-1)*(LineReturn[AB_SPOT]==1)); |
lilac0112_1 | 43:f11f68918299 | 423 | |
lilac0112_1 | 42:02aaa806d929 | 424 | Line_timeout[A_SPOT].attach(&LineClear_A, LINE_DELAY); |
lilac0112_1 | 42:02aaa806d929 | 425 | Line_timeout[B_SPOT].attach(&LineClear_B, LINE_DELAY); |
lilac0112_1 | 42:02aaa806d929 | 426 | Line_timeout[C_SPOT].attach(&LineClear_C, LINE_DELAY); |
lilac0112_1 | 42:02aaa806d929 | 427 | } |
lilac0112_1 | 42:02aaa806d929 | 428 | else{ |
lilac0112_1 | 42:02aaa806d929 | 429 | LineForce[X_AXIS] = 0; |
lilac0112_1 | 42:02aaa806d929 | 430 | LineForce[Y_AXIS] = 0; |
lilac0112_1 | 42:02aaa806d929 | 431 | } |
lilac0112_1 | 42:02aaa806d929 | 432 | |
lilac0112_1 | 42:02aaa806d929 | 433 | vx = vx*LineStop[X_AXIS] + LineForce[X_AXIS]; |
lilac0112_1 | 42:02aaa806d929 | 434 | vy = vy*LineStop[Y_AXIS] + LineForce[Y_AXIS]; |
lilac0112_1 | 42:02aaa806d929 | 435 | vs = data.OutputPID; |
lilac0112_1 | 42:02aaa806d929 | 436 | move( |
lilac0112_1 | 42:02aaa806d929 | 437 | vx, |
lilac0112_1 | 42:02aaa806d929 | 438 | vy, |
lilac0112_1 | 42:02aaa806d929 | 439 | vs |
lilac0112_1 | 42:02aaa806d929 | 440 | ); |
lilac0112_1 | 42:02aaa806d929 | 441 | data.motorlog[X_AXIS] += vx; |
lilac0112_1 | 42:02aaa806d929 | 442 | data.motorlog[Y_AXIS] += vy; |
lilac0112_1 | 42:02aaa806d929 | 443 | if(data.MotorFlag==1){ |
lilac0112_1 | 42:02aaa806d929 | 444 | tx_motor(); |
lilac0112_1 | 42:02aaa806d929 | 445 | data.MotorFlag=0; |
lilac0112_1 | 42:02aaa806d929 | 446 | } |
lilac0112_1 | 42:02aaa806d929 | 447 | return; |
lilac0112_1 | 42:02aaa806d929 | 448 | } |
lilac0112_1 | 42:02aaa806d929 | 449 | void modeAttack3(void){ |
lilac0112_1 | 42:02aaa806d929 | 450 | if(data.KickFlag==1){ |
lilac0112_1 | 42:02aaa806d929 | 451 | DriveSolenoid(); |
lilac0112_1 | 42:02aaa806d929 | 452 | } |
lilac0112_1 | 42:02aaa806d929 | 453 | return; |
lilac0112_1 | 42:02aaa806d929 | 454 | } |
lilac0112_1 | 42:02aaa806d929 | 455 | void modeAttack4(void){ |
lilac0112_1 | 42:02aaa806d929 | 456 | return; |
lilac0112_1 | 42:02aaa806d929 | 457 | } |
lilac0112_1 | 42:02aaa806d929 | 458 | void modeAttack5(void){ |
lilac0112_1 | 34:69bdf29a4442 | 459 | if(data.IrFlag==1){ |
lilac0112_1 | 34:69bdf29a4442 | 460 | ReadIr(); |
lilac0112_1 | 34:69bdf29a4442 | 461 | data.IrFlag=0; |
lilac0112_1 | 34:69bdf29a4442 | 462 | } |
lilac0112_1 | 34:69bdf29a4442 | 463 | if(data.PidFlag==1){ |
lilac0112_1 | 34:69bdf29a4442 | 464 | PidUpdate(); |
lilac0112_1 | 34:69bdf29a4442 | 465 | data.PidFlag=0; |
lilac0112_1 | 34:69bdf29a4442 | 466 | } |
lilac0112_1 | 34:69bdf29a4442 | 467 | move(0,0,10); |
lilac0112_1 | 34:69bdf29a4442 | 468 | if(data.MotorFlag==1){ |
lilac0112_1 | 34:69bdf29a4442 | 469 | tx_motor(); |
lilac0112_1 | 34:69bdf29a4442 | 470 | data.MotorFlag=0; |
lilac0112_1 | 34:69bdf29a4442 | 471 | } |
lilac0112_1 | 34:69bdf29a4442 | 472 | |
lilac0112_1 | 28:8ac6c3c1e643 | 473 | return; |
lilac0112_1 | 28:8ac6c3c1e643 | 474 | } |