2
Dependencies: AQM0802A HMC6352 PID Servo mbed
main.cpp@5:dace4f3b6e4a, 2015-03-04 (annotated)
- Committer:
- ryuna
- Date:
- Wed Mar 04 07:01:19 2015 +0000
- Revision:
- 5:dace4f3b6e4a
- Parent:
- 4:f7946508daa8
add one function _fool
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
ryuna | 0:dfe81bdcb486 | 1 | /*********************************** |
ryuna | 3:0c994b3a882e | 2 | *RoboCupJunior Soccer B Open 2015 |
ryuna | 0:dfe81bdcb486 | 3 | *Koshinnestu progrum |
ryuna | 0:dfe81bdcb486 | 4 | * |
ryuna | 0:dfe81bdcb486 | 5 | * |
ryuna | 0:dfe81bdcb486 | 6 | * データからロボットの移動やキッカー等のモータの動作を決定する処理を行う |
ryuna | 0:dfe81bdcb486 | 7 | * |
ryuna | 0:dfe81bdcb486 | 8 | * MotorDriverにmaxonに命令 |
ryuna | 0:dfe81bdcb486 | 9 | * |
ryuna | 0:dfe81bdcb486 | 10 | * servoにステアリング指示 |
ryuna | 0:dfe81bdcb486 | 11 | * |
ryuna | 0:dfe81bdcb486 | 12 | * LCDでデバック |
ryuna | 0:dfe81bdcb486 | 13 | * |
ryuna | 0:dfe81bdcb486 | 14 | * スイッチ4つとスタートスイッチで処理を実行 |
ryuna | 0:dfe81bdcb486 | 15 | * |
ryuna | 0:dfe81bdcb486 | 16 | |
ryuna | 0:dfe81bdcb486 | 17 | ************************* |
ryuna | 0:dfe81bdcb486 | 18 | * Pin Map |
ryuna | 0:dfe81bdcb486 | 19 | * |
ryuna | 3:0c994b3a882e | 20 | * p5~p8 >> BusIn >> LineSensor |
ryuna | 0:dfe81bdcb486 | 21 | * |
ryuna | 3:0c994b3a882e | 22 | * p9,p10 >> I2C >> LPC1114FN28/102 read & Compass |
ryuna | 0:dfe81bdcb486 | 23 | * |
ryuna | 0:dfe81bdcb486 | 24 | * p13,p14 >> Serial >> Motor |
ryuna | 0:dfe81bdcb486 | 25 | * |
ryuna | 0:dfe81bdcb486 | 26 | * p21 >> PwmOut >> Servo |
ryuna | 0:dfe81bdcb486 | 27 | * |
ryuna | 0:dfe81bdcb486 | 28 | * p22~p26 >> DigitalIn >> DebugSw and StartSw |
ryuna | 0:dfe81bdcb486 | 29 | * |
ryuna | 0:dfe81bdcb486 | 30 | * p27,p28 >> I2C >> DebugLCD |
ryuna | 0:dfe81bdcb486 | 31 | * |
ryuna | 0:dfe81bdcb486 | 32 | * p29 >> DigitalOut >> Kicker |
ryuna | 0:dfe81bdcb486 | 33 | * |
ryuna | 3:0c994b3a882e | 34 | * *never use pin number p11,p12,p15,p16,p17,p18,p19,p20,p30 |
ryuna | 0:dfe81bdcb486 | 35 | * |
ryuna | 0:dfe81bdcb486 | 36 | * |
ryuna | 0:dfe81bdcb486 | 37 | ******************************/ |
ryuna | 0:dfe81bdcb486 | 38 | |
ryuna | 0:dfe81bdcb486 | 39 | #include "mbed.h" |
ryuna | 3:0c994b3a882e | 40 | #include <math.h> |
ryuna | 3:0c994b3a882e | 41 | #include <sstream> |
ryuna | 0:dfe81bdcb486 | 42 | #include "PID.h" |
ryuna | 0:dfe81bdcb486 | 43 | #include "AQM0802A.h" |
ryuna | 0:dfe81bdcb486 | 44 | #include "HMC6352.h" |
ryuna | 0:dfe81bdcb486 | 45 | #include "Servo.h" |
ryuna | 0:dfe81bdcb486 | 46 | #include "main.h" |
ryuna | 0:dfe81bdcb486 | 47 | |
ryuna | 0:dfe81bdcb486 | 48 | |
ryuna | 3:0c994b3a882e | 49 | void Receive(uint8_t Address , char kind,char output[],int num ){ |
ryuna | 3:0c994b3a882e | 50 | char order[1] = {kind}; |
ryuna | 3:0c994b3a882e | 51 | bool val; |
ryuna | 3:0c994b3a882e | 52 | val = Sensor.write(Address&0xFE, order , 1); |
ryuna | 3:0c994b3a882e | 53 | |
ryuna | 3:0c994b3a882e | 54 | Led[0] = 0; |
ryuna | 3:0c994b3a882e | 55 | Led[1] = !val; |
ryuna | 5:dace4f3b6e4a | 56 | wait_ms(1); |
ryuna | 3:0c994b3a882e | 57 | |
ryuna | 3:0c994b3a882e | 58 | val = Sensor.read(Address|1, output, num);// IRデータを受信 |
ryuna | 3:0c994b3a882e | 59 | |
ryuna | 3:0c994b3a882e | 60 | Led[0] = !val; |
ryuna | 3:0c994b3a882e | 61 | Led[1] = 0; |
ryuna | 5:dace4f3b6e4a | 62 | wait_ms(1); |
ryuna | 3:0c994b3a882e | 63 | } |
ryuna | 0:dfe81bdcb486 | 64 | |
ryuna | 3:0c994b3a882e | 65 | void ReceiveFast(uint8_t Address, char kind, char output[],int num){ |
ryuna | 3:0c994b3a882e | 66 | /*初めに相手に何が欲しいのか言わない |
ryuna | 3:0c994b3a882e | 67 | *要は全部よこせということ |
ryuna | 3:0c994b3a882e | 68 | *上位3つだとirのみ |
ryuna | 3:0c994b3a882e | 69 | *上位5つだとirとping |
ryuna | 3:0c994b3a882e | 70 | * |
ryuna | 3:0c994b3a882e | 71 | *[0]:ir num num |
ryuna | 3:0c994b3a882e | 72 | *[1]:ir max_data |
ryuna | 3:0c994b3a882e | 73 | *[2]:ir second_max_data |
ryuna | 3:0c994b3a882e | 74 | *[3]:ping |
ryuna | 3:0c994b3a882e | 75 | *[4]:ping |
ryuna | 3:0c994b3a882e | 76 | **/ |
ryuna | 3:0c994b3a882e | 77 | |
ryuna | 3:0c994b3a882e | 78 | bool val; |
ryuna | 5:dace4f3b6e4a | 79 | Led[0] = 0; |
ryuna | 3:0c994b3a882e | 80 | val = Sensor.read(Address|1,output,num); |
ryuna | 5:dace4f3b6e4a | 81 | wait_ms(1); |
ryuna | 3:0c994b3a882e | 82 | Led[0] = !val; |
ryuna | 3:0c994b3a882e | 83 | |
ryuna | 3:0c994b3a882e | 84 | } |
ryuna | 0:dfe81bdcb486 | 85 | |
ryuna | 0:dfe81bdcb486 | 86 | |
ryuna | 0:dfe81bdcb486 | 87 | uint8_t IrReceive(uint8_t IrData[]){ |
ryuna | 0:dfe81bdcb486 | 88 | /* |
ryuna | 0:dfe81bdcb486 | 89 | *Irdata[0] : 1位,2位の場所(1位*13+2位) |
ryuna | 0:dfe81bdcb486 | 90 | *Irdata[1] : 1位の値 |
ryuna | 0:dfe81bdcb486 | 91 | *return : 1位の場所 |
ryuna | 0:dfe81bdcb486 | 92 | */ |
ryuna | 3:0c994b3a882e | 93 | char data_r[3] = {0},data_l[3] = {0}; |
ryuna | 3:0c994b3a882e | 94 | |
ryuna | 5:dace4f3b6e4a | 95 | Receive(ADDRESS_R,BALL,data_r,3); |
ryuna | 5:dace4f3b6e4a | 96 | Receive(ADDRESS_L,BALL,data_l,3); |
ryuna | 0:dfe81bdcb486 | 97 | |
ryuna | 3:0c994b3a882e | 98 | if((data_r[0] == 125)||(data_l[0] == 125)){/*ボールを検知しているかチェック*/ |
ryuna | 3:0c994b3a882e | 99 | if((data_r[0] == 125)&&(data_l[0] == 125)){ |
ryuna | 0:dfe81bdcb486 | 100 | IrData[0] = 12*13 + 12; |
ryuna | 0:dfe81bdcb486 | 101 | return 12; |
ryuna | 0:dfe81bdcb486 | 102 | } |
ryuna | 3:0c994b3a882e | 103 | if(data_r[0] == 125){ |
ryuna | 0:dfe81bdcb486 | 104 | IrData[0] = (data_l[0]/6+6)*13 + (data_l[0]%6+6); |
ryuna | 0:dfe81bdcb486 | 105 | IrData[1] = data_l[1]; |
ryuna | 3:0c994b3a882e | 106 | return (data_l[0]/6)+6; |
ryuna | 0:dfe81bdcb486 | 107 | |
ryuna | 0:dfe81bdcb486 | 108 | } |
ryuna | 0:dfe81bdcb486 | 109 | |
ryuna | 0:dfe81bdcb486 | 110 | IrData[0] = (data_r[0]/6)*13 + (data_r[0]%6); |
ryuna | 0:dfe81bdcb486 | 111 | IrData[1] = data_r[1]; |
ryuna | 0:dfe81bdcb486 | 112 | return data_r[0]/6; |
ryuna | 0:dfe81bdcb486 | 113 | } |
ryuna | 0:dfe81bdcb486 | 114 | |
ryuna | 0:dfe81bdcb486 | 115 | if(data_r[2]<data_l[2]){ |
ryuna | 0:dfe81bdcb486 | 116 | if(data_r[2]<data_l[1]){ |
ryuna | 0:dfe81bdcb486 | 117 | IrData[0] = (data_r[0]/6)*13 + (data_r[0]%6); |
ryuna | 0:dfe81bdcb486 | 118 | IrData[1] = data_r[1]; |
ryuna | 0:dfe81bdcb486 | 119 | return data_r[0]/6; |
ryuna | 0:dfe81bdcb486 | 120 | } |
ryuna | 0:dfe81bdcb486 | 121 | |
ryuna | 0:dfe81bdcb486 | 122 | IrData[0] = (data_r[0]/6)*13 + (data_l[0]/6+6); |
ryuna | 0:dfe81bdcb486 | 123 | IrData[1] = data_r[1]; |
ryuna | 0:dfe81bdcb486 | 124 | return data_r[0]/6; |
ryuna | 0:dfe81bdcb486 | 125 | |
ryuna | 0:dfe81bdcb486 | 126 | }else{ |
ryuna | 0:dfe81bdcb486 | 127 | if(data_l[2]<data_r[1]){ |
ryuna | 0:dfe81bdcb486 | 128 | IrData[0] = (data_l[0]/6+6)*13 + (data_l[0]%6+6); |
ryuna | 0:dfe81bdcb486 | 129 | IrData[1] = data_l[1]; |
ryuna | 0:dfe81bdcb486 | 130 | return (data_l[0]/6+6); |
ryuna | 0:dfe81bdcb486 | 131 | } |
ryuna | 0:dfe81bdcb486 | 132 | |
ryuna | 0:dfe81bdcb486 | 133 | IrData[0] = (data_l[0]/6+6)*13 + (data_r[0]/6); |
ryuna | 0:dfe81bdcb486 | 134 | IrData[1] = data_l[1]; |
ryuna | 0:dfe81bdcb486 | 135 | return (data_l[0]/6+6); |
ryuna | 0:dfe81bdcb486 | 136 | } |
ryuna | 0:dfe81bdcb486 | 137 | |
ryuna | 0:dfe81bdcb486 | 138 | |
ryuna | 0:dfe81bdcb486 | 139 | } |
ryuna | 3:0c994b3a882e | 140 | uint8_t IrReceiveFast(){ |
ryuna | 3:0c994b3a882e | 141 | /* |
ryuna | 3:0c994b3a882e | 142 | *return : 1位の場所 |
ryuna | 3:0c994b3a882e | 143 | */ |
ryuna | 3:0c994b3a882e | 144 | char data_r[3] = {0},data_l[3] = {0}; |
ryuna | 3:0c994b3a882e | 145 | |
ryuna | 3:0c994b3a882e | 146 | ReceiveFast(ADDRESS_R,BALL,data_r,3); |
ryuna | 3:0c994b3a882e | 147 | ReceiveFast(ADDRESS_L,BALL,data_l,3); |
ryuna | 3:0c994b3a882e | 148 | |
ryuna | 3:0c994b3a882e | 149 | if((data_r[0] == 125)||(data_l[0] == 125)){/*ボールを検知しているかチェック*/ |
ryuna | 3:0c994b3a882e | 150 | if((data_r[0] == 125)&&(data_l[0] == 125)){ |
ryuna | 3:0c994b3a882e | 151 | |
ryuna | 3:0c994b3a882e | 152 | return 12; |
ryuna | 3:0c994b3a882e | 153 | } |
ryuna | 3:0c994b3a882e | 154 | if(data_r[0] == 125){ |
ryuna | 3:0c994b3a882e | 155 | |
ryuna | 3:0c994b3a882e | 156 | return (data_l[0]/6)+6; |
ryuna | 3:0c994b3a882e | 157 | } |
ryuna | 3:0c994b3a882e | 158 | |
ryuna | 3:0c994b3a882e | 159 | return data_r[0]/6; |
ryuna | 3:0c994b3a882e | 160 | } |
ryuna | 3:0c994b3a882e | 161 | |
ryuna | 3:0c994b3a882e | 162 | if(data_r[1]<data_l[1]){ |
ryuna | 3:0c994b3a882e | 163 | |
ryuna | 3:0c994b3a882e | 164 | return data_r[0]/6; |
ryuna | 3:0c994b3a882e | 165 | |
ryuna | 3:0c994b3a882e | 166 | }else{ |
ryuna | 3:0c994b3a882e | 167 | |
ryuna | 3:0c994b3a882e | 168 | return (data_l[0]/6+6); |
ryuna | 3:0c994b3a882e | 169 | } |
ryuna | 3:0c994b3a882e | 170 | |
ryuna | 3:0c994b3a882e | 171 | |
ryuna | 3:0c994b3a882e | 172 | } |
ryuna | 3:0c994b3a882e | 173 | |
ryuna | 0:dfe81bdcb486 | 174 | |
ryuna | 0:dfe81bdcb486 | 175 | void PingReceiveRL(char ping[]){ |
ryuna | 0:dfe81bdcb486 | 176 | /* |
ryuna | 0:dfe81bdcb486 | 177 | * ping[0] : Right ping data |
ryuna | 0:dfe81bdcb486 | 178 | * ping[1] : Left ping data |
ryuna | 0:dfe81bdcb486 | 179 | */ |
ryuna | 3:0c994b3a882e | 180 | Receive(ADDRESS_R,SONIC,ping,2); |
ryuna | 0:dfe81bdcb486 | 181 | |
ryuna | 0:dfe81bdcb486 | 182 | } |
ryuna | 0:dfe81bdcb486 | 183 | |
ryuna | 0:dfe81bdcb486 | 184 | void PingReceiveFB(char ping[]){ |
ryuna | 0:dfe81bdcb486 | 185 | /* |
ryuna | 0:dfe81bdcb486 | 186 | * ping[0] : FRONT ping data |
ryuna | 0:dfe81bdcb486 | 187 | * ping[1] : BACK ping data |
ryuna | 0:dfe81bdcb486 | 188 | */ |
ryuna | 3:0c994b3a882e | 189 | Receive(ADDRESS_L,SONIC,ping,2); |
ryuna | 0:dfe81bdcb486 | 190 | |
ryuna | 0:dfe81bdcb486 | 191 | } |
ryuna | 0:dfe81bdcb486 | 192 | |
ryuna | 0:dfe81bdcb486 | 193 | |
ryuna | 5:dace4f3b6e4a | 194 | void move(int vr,int vl, double vs ,int Rad){ |
ryuna | 0:dfe81bdcb486 | 195 | double pwm[4] = {0}; |
ryuna | 0:dfe81bdcb486 | 196 | uint8_t i = 0; |
ryuna | 5:dace4f3b6e4a | 197 | pwm[0] = vr - vs; |
ryuna | 0:dfe81bdcb486 | 198 | pwm[1] = 0; |
ryuna | 0:dfe81bdcb486 | 199 | pwm[2] = 0; |
ryuna | 3:0c994b3a882e | 200 | pwm[3] = vl + vs; |
ryuna | 0:dfe81bdcb486 | 201 | |
ryuna | 0:dfe81bdcb486 | 202 | for(i = 0; i < 4; i++){ |
ryuna | 0:dfe81bdcb486 | 203 | if(pwm[i] > 100){ |
ryuna | 0:dfe81bdcb486 | 204 | pwm[i] = 100; |
ryuna | 0:dfe81bdcb486 | 205 | }else if(pwm[i] < -100){ |
ryuna | 0:dfe81bdcb486 | 206 | pwm[i] = -100; |
ryuna | 0:dfe81bdcb486 | 207 | } |
ryuna | 0:dfe81bdcb486 | 208 | speed[i] = pwm[i]; |
ryuna | 0:dfe81bdcb486 | 209 | } |
ryuna | 5:dace4f3b6e4a | 210 | SetRad = Rad; |
ryuna | 0:dfe81bdcb486 | 211 | } |
ryuna | 5:dace4f3b6e4a | 212 | void fool (int *Rad, int *Power){ |
ryuna | 5:dace4f3b6e4a | 213 | static int Last_Rad = 0; |
ryuna | 5:dace4f3b6e4a | 214 | static int Last_Vector = 1; |
ryuna | 5:dace4f3b6e4a | 215 | int rad = *Rad; |
ryuna | 5:dace4f3b6e4a | 216 | int Temp; |
ryuna | 5:dace4f3b6e4a | 217 | Temp = Last_Rad % 180; |
ryuna | 0:dfe81bdcb486 | 218 | |
ryuna | 5:dace4f3b6e4a | 219 | if((Temp>70) &&(Temp<110)){ |
ryuna | 5:dace4f3b6e4a | 220 | Temp = *Rad % 180; |
ryuna | 5:dace4f3b6e4a | 221 | if((Temp>70) &&(Temp<110)){ |
ryuna | 5:dace4f3b6e4a | 222 | Temp = abs(*Rad - Last_Rad); |
ryuna | 5:dace4f3b6e4a | 223 | if(Temp>160){ |
ryuna | 5:dace4f3b6e4a | 224 | Last_Vector = -1 * Last_Vector;//正転逆転切り替え |
ryuna | 5:dace4f3b6e4a | 225 | if(*Rad/180){ |
ryuna | 5:dace4f3b6e4a | 226 | *Rad = Angle[Last_Rad%180] -(Last_Rad - *Rad%180); |
ryuna | 5:dace4f3b6e4a | 227 | *Power = *Power * Last_Vector; |
ryuna | 5:dace4f3b6e4a | 228 | }else{ |
ryuna | 5:dace4f3b6e4a | 229 | *Rad = Angle[Last_Rad%180] -(Last_Rad%180 - *Rad); |
ryuna | 5:dace4f3b6e4a | 230 | *Power = *Power * Last_Vector; |
ryuna | 0:dfe81bdcb486 | 231 | } |
ryuna | 5:dace4f3b6e4a | 232 | Last_Rad = rad; |
ryuna | 5:dace4f3b6e4a | 233 | return; |
ryuna | 5:dace4f3b6e4a | 234 | }else if((Last_Vector+2) == 1){ |
ryuna | 5:dace4f3b6e4a | 235 | /*逆転のまま角度拡張*/ |
ryuna | 5:dace4f3b6e4a | 236 | if(*Rad/180){ |
ryuna | 5:dace4f3b6e4a | 237 | *Rad = -360 + *Rad ; |
ryuna | 5:dace4f3b6e4a | 238 | *Power = *Power * Last_Vector; |
ryuna | 5:dace4f3b6e4a | 239 | }else{ |
ryuna | 5:dace4f3b6e4a | 240 | *Power = *Power * Last_Vector; |
ryuna | 5:dace4f3b6e4a | 241 | } |
ryuna | 5:dace4f3b6e4a | 242 | Last_Rad = rad; |
ryuna | 5:dace4f3b6e4a | 243 | return; |
ryuna | 5:dace4f3b6e4a | 244 | |
ryuna | 5:dace4f3b6e4a | 245 | }else if((Last_Vector+2) == 3){ |
ryuna | 5:dace4f3b6e4a | 246 | /*正転のまま*/ |
ryuna | 5:dace4f3b6e4a | 247 | if(*Rad/180){ |
ryuna | 5:dace4f3b6e4a | 248 | *Rad = -360 + *Rad ; |
ryuna | 5:dace4f3b6e4a | 249 | *Power = *Power * Last_Vector; |
ryuna | 5:dace4f3b6e4a | 250 | }else{ |
ryuna | 5:dace4f3b6e4a | 251 | *Power = *Power * Last_Vector; |
ryuna | 5:dace4f3b6e4a | 252 | Last_Rad = rad; |
ryuna | 5:dace4f3b6e4a | 253 | } |
ryuna | 5:dace4f3b6e4a | 254 | Last_Rad = rad; |
ryuna | 5:dace4f3b6e4a | 255 | return; |
ryuna | 3:0c994b3a882e | 256 | } |
ryuna | 0:dfe81bdcb486 | 257 | } |
ryuna | 0:dfe81bdcb486 | 258 | } |
ryuna | 5:dace4f3b6e4a | 259 | /*通常動作*/ |
ryuna | 5:dace4f3b6e4a | 260 | Last_Vector = RadToVector[(*Rad-1)/90]; |
ryuna | 5:dace4f3b6e4a | 261 | *Rad = Angle[*Rad%180]; |
ryuna | 5:dace4f3b6e4a | 262 | *Power = *Power * Last_Vector; |
ryuna | 5:dace4f3b6e4a | 263 | Last_Rad = rad; |
ryuna | 5:dace4f3b6e4a | 264 | |
ryuna | 0:dfe81bdcb486 | 265 | } |
ryuna | 0:dfe81bdcb486 | 266 | |
ryuna | 3:0c994b3a882e | 267 | void IrFrontAction(int *CompassDef , uint8_t IrMemo[],double ReV)//ball 12 or 0 o-clock |
ryuna | 3:0c994b3a882e | 268 | { |
ryuna | 3:0c994b3a882e | 269 | |
ryuna | 3:0c994b3a882e | 270 | } |
ryuna | 3:0c994b3a882e | 271 | |
ryuna | 3:0c994b3a882e | 272 | void IrBackAction(int *CompassDef , uint8_t IrMemo[],double ReV)//ball found six o-clock |
ryuna | 0:dfe81bdcb486 | 273 | { |
ryuna | 0:dfe81bdcb486 | 274 | /*** |
ryuna | 0:dfe81bdcb486 | 275 | * 6時にボールがある場合の処理.右と左のスペースを確認して広い方から回り込む |
ryuna | 0:dfe81bdcb486 | 276 | * |
ryuna | 0:dfe81bdcb486 | 277 | **/ |
ryuna | 0:dfe81bdcb486 | 278 | char Ping[2]; |
ryuna | 0:dfe81bdcb486 | 279 | |
ryuna | 0:dfe81bdcb486 | 280 | PingReceiveRL(Ping); |
ryuna | 0:dfe81bdcb486 | 281 | |
ryuna | 0:dfe81bdcb486 | 282 | |
ryuna | 0:dfe81bdcb486 | 283 | if(IrMemo[0] == 6){//check ir number |
ryuna | 0:dfe81bdcb486 | 284 | return ; |
ryuna | 0:dfe81bdcb486 | 285 | } |
ryuna | 0:dfe81bdcb486 | 286 | if(Ping[0]<Ping[1]){ |
ryuna | 0:dfe81bdcb486 | 287 | /*右が大きい*/ |
ryuna | 0:dfe81bdcb486 | 288 | |
ryuna | 0:dfe81bdcb486 | 289 | |
ryuna | 0:dfe81bdcb486 | 290 | return; |
ryuna | 0:dfe81bdcb486 | 291 | } |
ryuna | 0:dfe81bdcb486 | 292 | /*左が大きい*/ |
ryuna | 0:dfe81bdcb486 | 293 | |
ryuna | 0:dfe81bdcb486 | 294 | |
ryuna | 3:0c994b3a882e | 295 | |
ryuna | 0:dfe81bdcb486 | 296 | } |
ryuna | 3:0c994b3a882e | 297 | |
ryuna | 3:0c994b3a882e | 298 | void GoHome(int *CompassDef , uint8_t IrMemo[],double ReV)//Ball is not found. |
ryuna | 0:dfe81bdcb486 | 299 | { |
ryuna | 3:0c994b3a882e | 300 | //止まっとく |
ryuna | 3:0c994b3a882e | 301 | S555.position(0.0); |
ryuna | 5:dace4f3b6e4a | 302 | move(0,0,ReV,0); |
ryuna | 3:0c994b3a882e | 303 | |
ryuna | 0:dfe81bdcb486 | 304 | /*line検知をしないバージョン*/ |
ryuna | 3:0c994b3a882e | 305 | /* |
ryuna | 0:dfe81bdcb486 | 306 | char Ping[2] = {0}; |
ryuna | 0:dfe81bdcb486 | 307 | |
ryuna | 0:dfe81bdcb486 | 308 | |
ryuna | 0:dfe81bdcb486 | 309 | PingReceiveFB(Ping); |
ryuna | 0:dfe81bdcb486 | 310 | if(Ping[1] >=60){//後ろからの距離60cm |
ryuna | 3:0c994b3a882e | 311 | move(-20,-20,ReV); |
ryuna | 0:dfe81bdcb486 | 312 | PingReceiveFB(Ping); |
ryuna | 0:dfe81bdcb486 | 313 | return ; |
ryuna | 0:dfe81bdcb486 | 314 | } |
ryuna | 0:dfe81bdcb486 | 315 | |
ryuna | 3:0c994b3a882e | 316 | move(0,0,ReV);//stop |
ryuna | 3:0c994b3a882e | 317 | */ |
ryuna | 3:0c994b3a882e | 318 | } |
ryuna | 3:0c994b3a882e | 319 | |
ryuna | 5:dace4f3b6e4a | 320 | void PidUpdate(int CompassDef , double SetAngle, double *Pid_up) |
ryuna | 3:0c994b3a882e | 321 | { |
ryuna | 3:0c994b3a882e | 322 | int Compass; |
ryuna | 3:0c994b3a882e | 323 | double inputPID = 0.0; |
ryuna | 3:0c994b3a882e | 324 | |
ryuna | 3:0c994b3a882e | 325 | Compass = ((hmc6352.sample() / 10) + 540 - CompassDef) % 360; |
ryuna | 5:dace4f3b6e4a | 326 | wait_ms(10); |
ryuna | 3:0c994b3a882e | 327 | pid.setSetPoint((int)((REFERENCE + SetAngle) / 1.0)); |
ryuna | 3:0c994b3a882e | 328 | inputPID = Compass; |
ryuna | 3:0c994b3a882e | 329 | |
ryuna | 3:0c994b3a882e | 330 | pid.setProcessValue(inputPID); |
ryuna | 5:dace4f3b6e4a | 331 | *Pid_up = -(pid.compute()); |
ryuna | 0:dfe81bdcb486 | 332 | |
ryuna | 0:dfe81bdcb486 | 333 | } |
ryuna | 0:dfe81bdcb486 | 334 | uint8_t SwRead(){ |
ryuna | 0:dfe81bdcb486 | 335 | /****** |
ryuna | 0:dfe81bdcb486 | 336 | *retrun : sw_state |
ryuna | 3:0c994b3a882e | 337 | *StartS = 0x01; |
ryuna | 3:0c994b3a882e | 338 | *Debug2 = 0x02; |
ryuna | 0:dfe81bdcb486 | 339 | *Debug1 = 0x04; |
ryuna | 3:0c994b3a882e | 340 | *Debug3 = 0x06; |
ryuna | 3:0c994b3a882e | 341 | *Kicker = 0x08; |
ryuna | 3:0c994b3a882e | 342 | *Calibration = 0x10; |
ryuna | 3:0c994b3a882e | 343 | |
ryuna | 0:dfe81bdcb486 | 344 | * |
ryuna | 0:dfe81bdcb486 | 345 | *****/ |
ryuna | 0:dfe81bdcb486 | 346 | uint8_t i,temp,temp2; |
ryuna | 3:0c994b3a882e | 347 | temp = ~Sw - 224; |
ryuna | 0:dfe81bdcb486 | 348 | if(!(temp == Calibration |
ryuna | 0:dfe81bdcb486 | 349 | ||temp == Kicker |
ryuna | 0:dfe81bdcb486 | 350 | ||temp == Debug1 |
ryuna | 0:dfe81bdcb486 | 351 | ||temp == Debug2 |
ryuna | 3:0c994b3a882e | 352 | //||temp == Debug3 |
ryuna | 0:dfe81bdcb486 | 353 | ||temp == StartS)) return 0;/*スイッチが押されていない*/ |
ryuna | 3:0c994b3a882e | 354 | if(!(temp == 0x00)){ |
ryuna | 0:dfe81bdcb486 | 355 | for(i = 0; i < 50; i++); |
ryuna | 3:0c994b3a882e | 356 | temp2 = ~Sw - 224; |
ryuna | 0:dfe81bdcb486 | 357 | if(temp == temp2){ |
ryuna | 0:dfe81bdcb486 | 358 | return temp; |
ryuna | 0:dfe81bdcb486 | 359 | } |
ryuna | 0:dfe81bdcb486 | 360 | } |
ryuna | 0:dfe81bdcb486 | 361 | return 0; |
ryuna | 0:dfe81bdcb486 | 362 | } |
ryuna | 0:dfe81bdcb486 | 363 | |
ryuna | 0:dfe81bdcb486 | 364 | //通信(モータ用) |
ryuna | 0:dfe81bdcb486 | 365 | void tx_motor(){ |
ryuna | 0:dfe81bdcb486 | 366 | array(speed[0],speed[1],speed[3],speed[2]); |
ryuna | 0:dfe81bdcb486 | 367 | Motor.printf("%s",StringFIN.c_str()); |
ryuna | 5:dace4f3b6e4a | 368 | S555.position(SetRad); |
ryuna | 0:dfe81bdcb486 | 369 | } |
ryuna | 0:dfe81bdcb486 | 370 | |
ryuna | 3:0c994b3a882e | 371 | void SetUp(int *CompassDef){ |
ryuna | 0:dfe81bdcb486 | 372 | /*初期化*/ |
ryuna | 3:0c994b3a882e | 373 | double ReV; |
ryuna | 3:0c994b3a882e | 374 | int i; |
ryuna | 0:dfe81bdcb486 | 375 | Kick = 0; |
ryuna | 0:dfe81bdcb486 | 376 | Sw.mode(PullUp); |
ryuna | 0:dfe81bdcb486 | 377 | |
ryuna | 3:0c994b3a882e | 378 | pid.setInputLimits(MINIMUM,MAXIMUM); //pid sed def |
ryuna | 3:0c994b3a882e | 379 | pid.setOutputLimits(-OUT_LIMIT, OUT_LIMIT); //pid sed def |
ryuna | 3:0c994b3a882e | 380 | pid.setBias(PID_BIAS); //pid sed def |
ryuna | 3:0c994b3a882e | 381 | pid.setMode(AUTO_MODE); //pid sed def |
ryuna | 3:0c994b3a882e | 382 | pid.setSetPoint(REFERENCE); //pid sed def |
ryuna | 3:0c994b3a882e | 383 | |
ryuna | 0:dfe81bdcb486 | 384 | Motor.baud(115200); //ボーレート設定 |
ryuna | 0:dfe81bdcb486 | 385 | Motor.printf("1F0002F0003F0004F000\r\n"); //モータ停止 |
ryuna | 0:dfe81bdcb486 | 386 | Motor.attach(&tx_motor,Serial::TxIrq); //送信空き割り込み(モータ用) |
ryuna | 5:dace4f3b6e4a | 387 | |
ryuna | 0:dfe81bdcb486 | 388 | |
ryuna | 0:dfe81bdcb486 | 389 | S555.calibrate(0.0005, 120.0); |
ryuna | 0:dfe81bdcb486 | 390 | S555.position(0.0); //初期位置にセット |
ryuna | 5:dace4f3b6e4a | 391 | move(0,0,0,0);//停止 |
ryuna | 5:dace4f3b6e4a | 392 | Sensor.frequency(100000); |
ryuna | 0:dfe81bdcb486 | 393 | hmc6352.setOpMode(HMC6352_CONTINUOUS, 1, 20); |
ryuna | 3:0c994b3a882e | 394 | *CompassDef = (hmc6352.sample() / 10); |
ryuna | 5:dace4f3b6e4a | 395 | for(i = 0;i<15;i++){ |
ryuna | 5:dace4f3b6e4a | 396 | PidUpdate(*CompassDef,0,&ReV); |
ryuna | 3:0c994b3a882e | 397 | } |
ryuna | 3:0c994b3a882e | 398 | |
ryuna | 3:0c994b3a882e | 399 | Lcd.printf("%f\n",ReV); |
ryuna | 3:0c994b3a882e | 400 | wait_ms(100); |
ryuna | 0:dfe81bdcb486 | 401 | |
ryuna | 0:dfe81bdcb486 | 402 | } |
ryuna | 3:0c994b3a882e | 403 | void StartLoop(int *CompassDef){ |
ryuna | 0:dfe81bdcb486 | 404 | /* |
ryuna | 0:dfe81bdcb486 | 405 | *スイッチが押されるまでロボットはスタートしない. |
ryuna | 0:dfe81bdcb486 | 406 | * |
ryuna | 0:dfe81bdcb486 | 407 | *switch割り当て |
ryuna | 0:dfe81bdcb486 | 408 | *1.コンパスのキャリブレーション実行スイッチ |
ryuna | 0:dfe81bdcb486 | 409 | *2.キッカーのキック(check用) |
ryuna | 0:dfe81bdcb486 | 410 | *3,4.自由 |
ryuna | 0:dfe81bdcb486 | 411 | *5.StartSw |
ryuna | 0:dfe81bdcb486 | 412 | */ |
ryuna | 0:dfe81bdcb486 | 413 | uint8_t State = 0; |
ryuna | 3:0c994b3a882e | 414 | int Compass = 0; |
ryuna | 3:0c994b3a882e | 415 | uint8_t IrData[3] = {0}; |
ryuna | 3:0c994b3a882e | 416 | uint8_t Irnum = 0; |
ryuna | 3:0c994b3a882e | 417 | uint8_t LineData = 0; |
ryuna | 0:dfe81bdcb486 | 418 | while(1){ |
ryuna | 3:0c994b3a882e | 419 | Led[0] = Led[1] = Led[2] = Led[3] = 1; |
ryuna | 3:0c994b3a882e | 420 | //Lcd.cls(); |
ryuna | 0:dfe81bdcb486 | 421 | State = SwRead(); |
ryuna | 0:dfe81bdcb486 | 422 | if(State == 0) continue; |
ryuna | 0:dfe81bdcb486 | 423 | |
ryuna | 3:0c994b3a882e | 424 | if(State == StartS){ |
ryuna | 3:0c994b3a882e | 425 | /*loop end & start*/ |
ryuna | 3:0c994b3a882e | 426 | return; |
ryuna | 0:dfe81bdcb486 | 427 | } |
ryuna | 3:0c994b3a882e | 428 | |
ryuna | 3:0c994b3a882e | 429 | |
ryuna | 0:dfe81bdcb486 | 430 | if(State == Debug1){ |
ryuna | 3:0c994b3a882e | 431 | while((State == Debug1)){ |
ryuna | 3:0c994b3a882e | 432 | /*Compass = ((hmc6352.sample() / 10) + 540 - *CompassDef) % 360; |
ryuna | 3:0c994b3a882e | 433 | Lcd.printf("%d\n",Compass); |
ryuna | 3:0c994b3a882e | 434 | */ |
ryuna | 3:0c994b3a882e | 435 | |
ryuna | 3:0c994b3a882e | 436 | |
ryuna | 3:0c994b3a882e | 437 | LineData = (~Line+0x00) & 0x0F; |
ryuna | 3:0c994b3a882e | 438 | Lcd.printf("%d\n",LineData); |
ryuna | 3:0c994b3a882e | 439 | |
ryuna | 3:0c994b3a882e | 440 | wait_ms(100); |
ryuna | 3:0c994b3a882e | 441 | State = SwRead(); |
ryuna | 3:0c994b3a882e | 442 | |
ryuna | 3:0c994b3a882e | 443 | } |
ryuna | 0:dfe81bdcb486 | 444 | |
ryuna | 3:0c994b3a882e | 445 | Lcd.cls(); |
ryuna | 3:0c994b3a882e | 446 | continue; |
ryuna | 0:dfe81bdcb486 | 447 | /* debug command free |
ryuna | 0:dfe81bdcb486 | 448 | * |
ryuna | 0:dfe81bdcb486 | 449 | * decide movement of the beginning. |
ryuna | 0:dfe81bdcb486 | 450 | * |
ryuna | 3:0c994b3a882e | 451 | **/ |
ryuna | 3:0c994b3a882e | 452 | } |
ryuna | 3:0c994b3a882e | 453 | if(State == Debug2){ |
ryuna | 3:0c994b3a882e | 454 | while((State == Debug2)){ |
ryuna | 3:0c994b3a882e | 455 | Irnum = IrReceive(IrData); |
ryuna | 3:0c994b3a882e | 456 | Lcd.printf("%d\n",Irnum); |
ryuna | 3:0c994b3a882e | 457 | wait_ms(100); |
ryuna | 3:0c994b3a882e | 458 | State = SwRead(); |
ryuna | 3:0c994b3a882e | 459 | } |
ryuna | 3:0c994b3a882e | 460 | Lcd.cls(); |
ryuna | 3:0c994b3a882e | 461 | continue; |
ryuna | 3:0c994b3a882e | 462 | |
ryuna | 3:0c994b3a882e | 463 | /* debug command free |
ryuna | 0:dfe81bdcb486 | 464 | * |
ryuna | 3:0c994b3a882e | 465 | *display out to selected 3 menus. compass, ir, ping, line,etc |
ryuna | 3:0c994b3a882e | 466 | * |
ryuna | 3:0c994b3a882e | 467 | **/ |
ryuna | 0:dfe81bdcb486 | 468 | } |
ryuna | 3:0c994b3a882e | 469 | /* |
ryuna | 3:0c994b3a882e | 470 | if(State == Debug3){ |
ryuna | 3:0c994b3a882e | 471 | while((State == Debug3)){ |
ryuna | 3:0c994b3a882e | 472 | Compass = ((hmc6352.sample() / 10) + 540 - *CompassDef) % 360; |
ryuna | 3:0c994b3a882e | 473 | Lcd.printf("%d\n",Compass); |
ryuna | 3:0c994b3a882e | 474 | State = SwRead(); |
ryuna | 3:0c994b3a882e | 475 | wait_ms(100); |
ryuna | 3:0c994b3a882e | 476 | } |
ryuna | 3:0c994b3a882e | 477 | Lcd.cls(); |
ryuna | 3:0c994b3a882e | 478 | */ |
ryuna | 3:0c994b3a882e | 479 | /* debug command free |
ryuna | 3:0c994b3a882e | 480 | * |
ryuna | 3:0c994b3a882e | 481 | *display out to selected 3 menus. compass, ir, ping, line,etc |
ryuna | 3:0c994b3a882e | 482 | * |
ryuna | 3:0c994b3a882e | 483 | **/ |
ryuna | 3:0c994b3a882e | 484 | //} |
ryuna | 3:0c994b3a882e | 485 | |
ryuna | 3:0c994b3a882e | 486 | if(State == Kicker){ |
ryuna | 3:0c994b3a882e | 487 | while((State == Kicker)){ |
ryuna | 3:0c994b3a882e | 488 | Compass = ((hmc6352.sample() / 10) + 540 - *CompassDef) % 360; |
ryuna | 3:0c994b3a882e | 489 | Lcd.printf("%d\n",Compass); |
ryuna | 3:0c994b3a882e | 490 | wait_ms(100); |
ryuna | 3:0c994b3a882e | 491 | State = SwRead(); |
ryuna | 3:0c994b3a882e | 492 | |
ryuna | 3:0c994b3a882e | 493 | } |
ryuna | 3:0c994b3a882e | 494 | Lcd.cls(); |
ryuna | 3:0c994b3a882e | 495 | /*kicker check */ |
ryuna | 3:0c994b3a882e | 496 | /* |
ryuna | 3:0c994b3a882e | 497 | Led[4] = 1; |
ryuna | 3:0c994b3a882e | 498 | Kick = 1; |
ryuna | 3:0c994b3a882e | 499 | wait(0.5); |
ryuna | 3:0c994b3a882e | 500 | Kick = 0; |
ryuna | 3:0c994b3a882e | 501 | Led[4] = 0; |
ryuna | 3:0c994b3a882e | 502 | wait(1); |
ryuna | 3:0c994b3a882e | 503 | */ |
ryuna | 3:0c994b3a882e | 504 | continue; |
ryuna | 0:dfe81bdcb486 | 505 | } |
ryuna | 3:0c994b3a882e | 506 | if(State == Calibration){ |
ryuna | 3:0c994b3a882e | 507 | Led[0] = Led[1] = Led[2] = 0; |
ryuna | 5:dace4f3b6e4a | 508 | move(20,20,0,0); |
ryuna | 5:dace4f3b6e4a | 509 | while((State == Calibration)){ |
ryuna | 5:dace4f3b6e4a | 510 | wait_ms(100); |
ryuna | 5:dace4f3b6e4a | 511 | State = SwRead(); |
ryuna | 5:dace4f3b6e4a | 512 | |
ryuna | 5:dace4f3b6e4a | 513 | } |
ryuna | 5:dace4f3b6e4a | 514 | move(0,0,0,0); |
ryuna | 5:dace4f3b6e4a | 515 | /* |
ryuna | 3:0c994b3a882e | 516 | hmc6352.setCalibrationMode(ENTER); |
ryuna | 3:0c994b3a882e | 517 | while((State == Calibration)){ |
ryuna | 3:0c994b3a882e | 518 | State = SwRead(); |
ryuna | 3:0c994b3a882e | 519 | } |
ryuna | 3:0c994b3a882e | 520 | hmc6352.setCalibrationMode(EXIT); |
ryuna | 3:0c994b3a882e | 521 | wait(0.3);//必要 |
ryuna | 3:0c994b3a882e | 522 | Led[3] = 0; |
ryuna | 5:dace4f3b6e4a | 523 | */ |
ryuna | 3:0c994b3a882e | 524 | /*calibration command enter*/ |
ryuna | 3:0c994b3a882e | 525 | continue; |
ryuna | 3:0c994b3a882e | 526 | } |
ryuna | 0:dfe81bdcb486 | 527 | } |
ryuna | 0:dfe81bdcb486 | 528 | |
ryuna | 0:dfe81bdcb486 | 529 | } |
ryuna | 0:dfe81bdcb486 | 530 | int main() { |
ryuna | 0:dfe81bdcb486 | 531 | |
ryuna | 0:dfe81bdcb486 | 532 | /*Ir*/ |
ryuna | 3:0c994b3a882e | 533 | uint8_t IrNum = 12;//場所によるirの数を表したもの0~11まではボールがある状態12はボールがない状態 |
ryuna | 3:0c994b3a882e | 534 | //uint8_t IrNumOld = 0;//過去値 |
ryuna | 0:dfe81bdcb486 | 535 | uint8_t IrData[2];//0:1位*13+2位,1:1位の値 |
ryuna | 3:0c994b3a882e | 536 | |
ryuna | 0:dfe81bdcb486 | 537 | /*Line*/ |
ryuna | 0:dfe81bdcb486 | 538 | uint8_t LineData = 0; |
ryuna | 0:dfe81bdcb486 | 539 | |
ryuna | 0:dfe81bdcb486 | 540 | /*Compass*/ |
ryuna | 3:0c994b3a882e | 541 | int CompassDef = 0; |
ryuna | 3:0c994b3a882e | 542 | //int Compass = 0; |
ryuna | 3:0c994b3a882e | 543 | double SetAngle = 0; |
ryuna | 3:0c994b3a882e | 544 | |
ryuna | 3:0c994b3a882e | 545 | /*PID補正move加算値 Revise */ |
ryuna | 3:0c994b3a882e | 546 | double ReV = 0.0; |
ryuna | 5:dace4f3b6e4a | 547 | int Rad = 0; |
ryuna | 0:dfe81bdcb486 | 548 | |
ryuna | 0:dfe81bdcb486 | 549 | /*State */ |
ryuna | 0:dfe81bdcb486 | 550 | //Direction LineIr = NA;//方位設定奴...エラーでてめんどくさいので後でまたやることにする。 |
ryuna | 3:0c994b3a882e | 551 | uint8_t LineIr = 0; |
ryuna | 3:0c994b3a882e | 552 | uint8_t IrChange[13] ={0x01,0x01,0x02,0x02,0x02,0x04, |
ryuna | 3:0c994b3a882e | 553 | 0x04,0x04,0x08,0x08,0x08,0x01,0x00}; |
ryuna | 3:0c994b3a882e | 554 | |
ryuna | 5:dace4f3b6e4a | 555 | int Power = 0; |
ryuna | 0:dfe81bdcb486 | 556 | |
ryuna | 0:dfe81bdcb486 | 557 | /*関数ポインタ*/ |
ryuna | 3:0c994b3a882e | 558 | void (*AnotherAction[3])(int *, uint8_t [],double); |
ryuna | 0:dfe81bdcb486 | 559 | AnotherAction[0] = IrFrontAction; |
ryuna | 0:dfe81bdcb486 | 560 | AnotherAction[1] = IrBackAction; |
ryuna | 0:dfe81bdcb486 | 561 | AnotherAction[2] = GoHome; |
ryuna | 0:dfe81bdcb486 | 562 | |
ryuna | 3:0c994b3a882e | 563 | /*check 変数*/ |
ryuna | 3:0c994b3a882e | 564 | double s_deg[13] = { 0.0,-30.0,-60.0,-90.0, 60.0, 30.0, 0.0,-30.0,-60.0, 90.0, 60.0, 30.0, 0.0}; |
ryuna | 3:0c994b3a882e | 565 | |
ryuna | 3:0c994b3a882e | 566 | int vr[13] = { 20,20,20,20,-20,-20,-20,-20,-20,20,20,20,0}; |
ryuna | 3:0c994b3a882e | 567 | |
ryuna | 3:0c994b3a882e | 568 | int vl[13] = { 20,20,20,20,-20,-20,-20,-20,-20,20,20,20,0}; |
ryuna | 3:0c994b3a882e | 569 | |
ryuna | 0:dfe81bdcb486 | 570 | |
ryuna | 0:dfe81bdcb486 | 571 | SetUp(&CompassDef);/*set up routine*/ |
ryuna | 3:0c994b3a882e | 572 | StartLoop(&CompassDef); /*loop strat, switch push end*/ |
ryuna | 0:dfe81bdcb486 | 573 | |
ryuna | 3:0c994b3a882e | 574 | while(1){ |
ryuna | 4:f7946508daa8 | 575 | |
ryuna | 4:f7946508daa8 | 576 | Led[0] = 1; |
ryuna | 4:f7946508daa8 | 577 | |
ryuna | 4:f7946508daa8 | 578 | /*白線を読んでいないか確認する*/ |
ryuna | 5:dace4f3b6e4a | 579 | |
ryuna | 4:f7946508daa8 | 580 | LineData = (~Line+0x00) & 0x0F; |
ryuna | 4:f7946508daa8 | 581 | if(LineData){ |
ryuna | 5:dace4f3b6e4a | 582 | //IrNum = IrReceiveFast(); |
ryuna | 5:dace4f3b6e4a | 583 | //LineIr = LineData & IrChange[IrNum]; //一箇所でも一致すればlineを検知している. |
ryuna | 5:dace4f3b6e4a | 584 | while(LineData){ |
ryuna | 5:dace4f3b6e4a | 585 | move(0,0,0,0);// |
ryuna | 4:f7946508daa8 | 586 | Led[1] = Led[2] = Led[3] = 1; |
ryuna | 4:f7946508daa8 | 587 | LineData = (~Line+0x00) & 0x0F; |
ryuna | 5:dace4f3b6e4a | 588 | //IrNum = IrReceiveFast(); |
ryuna | 5:dace4f3b6e4a | 589 | wait_ms(10); |
ryuna | 5:dace4f3b6e4a | 590 | //LineIr = LineData & IrChange[IrNum];//一箇所でも一致すればlineを検知している. |
ryuna | 5:dace4f3b6e4a | 591 | |
ryuna | 4:f7946508daa8 | 592 | } |
ryuna | 4:f7946508daa8 | 593 | Led[1] = Led[2] = Led[3] = 0; |
ryuna | 5:dace4f3b6e4a | 594 | //wait(0.02); |
ryuna | 5:dace4f3b6e4a | 595 | |
ryuna | 4:f7946508daa8 | 596 | } |
ryuna | 5:dace4f3b6e4a | 597 | |
ryuna | 5:dace4f3b6e4a | 598 | Led[2] = 1; |
ryuna | 4:f7946508daa8 | 599 | IrNum = IrReceive(IrData); |
ryuna | 5:dace4f3b6e4a | 600 | wait_ms(100); |
ryuna | 5:dace4f3b6e4a | 601 | Led[2] = 0; |
ryuna | 5:dace4f3b6e4a | 602 | //PidUpdate(CompassDef ,SetAngle,&ReV); |
ryuna | 5:dace4f3b6e4a | 603 | Led[3] = 1; |
ryuna | 5:dace4f3b6e4a | 604 | Power = 20; |
ryuna | 5:dace4f3b6e4a | 605 | Rad = 359-IrNum*30; |
ryuna | 5:dace4f3b6e4a | 606 | fool(&Rad,&Power); |
ryuna | 5:dace4f3b6e4a | 607 | move(Power,Power,ReV,Rad); |
ryuna | 5:dace4f3b6e4a | 608 | wait_ms(100); |
ryuna | 5:dace4f3b6e4a | 609 | Led[3] = 0; |
ryuna | 4:f7946508daa8 | 610 | |
ryuna | 5:dace4f3b6e4a | 611 | Led[2] = 1; |
ryuna | 5:dace4f3b6e4a | 612 | wait_ms(200); |
ryuna | 4:f7946508daa8 | 613 | |
ryuna | 5:dace4f3b6e4a | 614 | Led[0] = Led[1] = Led[2] = Led[3] = 0; |
ryuna | 5:dace4f3b6e4a | 615 | |
ryuna | 0:dfe81bdcb486 | 616 | } |
ryuna | 0:dfe81bdcb486 | 617 | |
ryuna | 3:0c994b3a882e | 618 | /* |
ryuna | 3:0c994b3a882e | 619 | while(0){ |
ryuna | 3:0c994b3a882e | 620 | //デモプログラム |
ryuna | 3:0c994b3a882e | 621 | S555.position(0.0); |
ryuna | 3:0c994b3a882e | 622 | |
ryuna | 3:0c994b3a882e | 623 | wait(1.5); |
ryuna | 3:0c994b3a882e | 624 | S555.position(90.0); |
ryuna | 0:dfe81bdcb486 | 625 | |
ryuna | 3:0c994b3a882e | 626 | } |
ryuna | 3:0c994b3a882e | 627 | |
ryuna | 3:0c994b3a882e | 628 | */ |
ryuna | 0:dfe81bdcb486 | 629 | |
ryuna | 0:dfe81bdcb486 | 630 | |
ryuna | 0:dfe81bdcb486 | 631 | } |