version 3 通信方式,マイコン等に変更あり
Dependencies: AQM0802A PID Servo mbed
main.cpp@0:65b9e62cc2b6, 2015-03-06 (annotated)
- Committer:
- ryuna
- Date:
- Fri Mar 06 01:16:05 2015 +0000
- Revision:
- 0:65b9e62cc2b6
- Child:
- 1:f91d53098d57
check????
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
ryuna | 0:65b9e62cc2b6 | 1 | /*********************************** |
ryuna | 0:65b9e62cc2b6 | 2 | *RoboCupJunior Soccer B Open 2015 |
ryuna | 0:65b9e62cc2b6 | 3 | *Koshinnestu progrum |
ryuna | 0:65b9e62cc2b6 | 4 | * |
ryuna | 0:65b9e62cc2b6 | 5 | * |
ryuna | 0:65b9e62cc2b6 | 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 | 0:65b9e62cc2b6 | 7 | * |
ryuna | 0:65b9e62cc2b6 | 8 | * MotorDriverにmaxonに命令 |
ryuna | 0:65b9e62cc2b6 | 9 | * |
ryuna | 0:65b9e62cc2b6 | 10 | * servoにステアリング指示 |
ryuna | 0:65b9e62cc2b6 | 11 | * |
ryuna | 0:65b9e62cc2b6 | 12 | * LCDでデバック |
ryuna | 0:65b9e62cc2b6 | 13 | * |
ryuna | 0:65b9e62cc2b6 | 14 | * スイッチ4つとスタートスイッチで処理を実行 |
ryuna | 0:65b9e62cc2b6 | 15 | * |
ryuna | 0:65b9e62cc2b6 | 16 | |
ryuna | 0:65b9e62cc2b6 | 17 | ************************* |
ryuna | 0:65b9e62cc2b6 | 18 | * Pin Map |
ryuna | 0:65b9e62cc2b6 | 19 | * |
ryuna | 0:65b9e62cc2b6 | 20 | * p5~p8 >> BusIn >> LineSensor |
ryuna | 0:65b9e62cc2b6 | 21 | * |
ryuna | 0:65b9e62cc2b6 | 22 | * p9,p10 >> I2C >> LPC1114FN28/102 read & Compass |
ryuna | 0:65b9e62cc2b6 | 23 | * |
ryuna | 0:65b9e62cc2b6 | 24 | * p13,p14 >> Serial >> Motor |
ryuna | 0:65b9e62cc2b6 | 25 | * |
ryuna | 0:65b9e62cc2b6 | 26 | * p21 >> PwmOut >> Servo |
ryuna | 0:65b9e62cc2b6 | 27 | * |
ryuna | 0:65b9e62cc2b6 | 28 | * p22~p26 >> DigitalIn >> DebugSw and StartSw |
ryuna | 0:65b9e62cc2b6 | 29 | * |
ryuna | 0:65b9e62cc2b6 | 30 | * p27,p28 >> I2C >> DebugLCD |
ryuna | 0:65b9e62cc2b6 | 31 | * |
ryuna | 0:65b9e62cc2b6 | 32 | * p29 >> DigitalOut >> Kicker |
ryuna | 0:65b9e62cc2b6 | 33 | * |
ryuna | 0:65b9e62cc2b6 | 34 | * *never use pin number p11,p12,p15,p16,p17,p18,p19,p20,p30 |
ryuna | 0:65b9e62cc2b6 | 35 | * |
ryuna | 0:65b9e62cc2b6 | 36 | * |
ryuna | 0:65b9e62cc2b6 | 37 | ******************************/ |
ryuna | 0:65b9e62cc2b6 | 38 | |
ryuna | 0:65b9e62cc2b6 | 39 | #include "mbed.h" |
ryuna | 0:65b9e62cc2b6 | 40 | #include <math.h> |
ryuna | 0:65b9e62cc2b6 | 41 | #include <sstream> |
ryuna | 0:65b9e62cc2b6 | 42 | #include "PID.h" |
ryuna | 0:65b9e62cc2b6 | 43 | #include "AQM0802A.h" |
ryuna | 0:65b9e62cc2b6 | 44 | #include "MultiSerial.h" |
ryuna | 0:65b9e62cc2b6 | 45 | #include "Servo.h" |
ryuna | 0:65b9e62cc2b6 | 46 | #include "main.h" |
ryuna | 0:65b9e62cc2b6 | 47 | |
ryuna | 0:65b9e62cc2b6 | 48 | |
ryuna | 0:65b9e62cc2b6 | 49 | void Receive(){ |
ryuna | 0:65b9e62cc2b6 | 50 | IrData[0] = rx_data[0]; |
ryuna | 0:65b9e62cc2b6 | 51 | IrData[1] = rx_data[1]; |
ryuna | 0:65b9e62cc2b6 | 52 | IrData[2] = rx_data[2]; |
ryuna | 0:65b9e62cc2b6 | 53 | PingData[0] = rx_data[3]; |
ryuna | 0:65b9e62cc2b6 | 54 | PingData[1] = rx_data[4]; |
ryuna | 0:65b9e62cc2b6 | 55 | PingData[2] = rx_data[5]; |
ryuna | 0:65b9e62cc2b6 | 56 | PingData[3] = rx_data[6]; |
ryuna | 0:65b9e62cc2b6 | 57 | Compass = rx_data[7]+rx_data[8]; |
ryuna | 0:65b9e62cc2b6 | 58 | |
ryuna | 0:65b9e62cc2b6 | 59 | if(IrData[0] == 255){ |
ryuna | 0:65b9e62cc2b6 | 60 | IrNum = 12; |
ryuna | 0:65b9e62cc2b6 | 61 | return; |
ryuna | 0:65b9e62cc2b6 | 62 | } |
ryuna | 0:65b9e62cc2b6 | 63 | IrNum = IrData[0]/12; |
ryuna | 0:65b9e62cc2b6 | 64 | |
ryuna | 0:65b9e62cc2b6 | 65 | |
ryuna | 0:65b9e62cc2b6 | 66 | } |
ryuna | 0:65b9e62cc2b6 | 67 | |
ryuna | 0:65b9e62cc2b6 | 68 | void move(int vr,int vl, double vs ,double Rad){ |
ryuna | 0:65b9e62cc2b6 | 69 | double pwm[4] = {0}; |
ryuna | 0:65b9e62cc2b6 | 70 | uint8_t i = 0; |
ryuna | 0:65b9e62cc2b6 | 71 | pwm[0] = vr - vs; |
ryuna | 0:65b9e62cc2b6 | 72 | pwm[1] = 0; |
ryuna | 0:65b9e62cc2b6 | 73 | pwm[2] = 0; |
ryuna | 0:65b9e62cc2b6 | 74 | pwm[3] = vl*1.2 + vs; |
ryuna | 0:65b9e62cc2b6 | 75 | |
ryuna | 0:65b9e62cc2b6 | 76 | for(i = 0; i < 4; i++){ |
ryuna | 0:65b9e62cc2b6 | 77 | if(pwm[i] > 100){ |
ryuna | 0:65b9e62cc2b6 | 78 | pwm[i] = 100; |
ryuna | 0:65b9e62cc2b6 | 79 | }else if(pwm[i] < -100){ |
ryuna | 0:65b9e62cc2b6 | 80 | pwm[i] = -100; |
ryuna | 0:65b9e62cc2b6 | 81 | } |
ryuna | 0:65b9e62cc2b6 | 82 | speed[i] = pwm[i]; |
ryuna | 0:65b9e62cc2b6 | 83 | } |
ryuna | 0:65b9e62cc2b6 | 84 | SetRad = Rad; |
ryuna | 0:65b9e62cc2b6 | 85 | wait_ms(10); |
ryuna | 0:65b9e62cc2b6 | 86 | } |
ryuna | 0:65b9e62cc2b6 | 87 | void fool (int *Rad, int *Power){ |
ryuna | 0:65b9e62cc2b6 | 88 | static int Last_Rad = 0; |
ryuna | 0:65b9e62cc2b6 | 89 | static int Last_Vector = 1; |
ryuna | 0:65b9e62cc2b6 | 90 | int rad = *Rad; |
ryuna | 0:65b9e62cc2b6 | 91 | int Temp; |
ryuna | 0:65b9e62cc2b6 | 92 | Temp = Last_Rad % 180; |
ryuna | 0:65b9e62cc2b6 | 93 | |
ryuna | 0:65b9e62cc2b6 | 94 | if((Temp>70) &&(Temp<110)){ |
ryuna | 0:65b9e62cc2b6 | 95 | Temp = *Rad % 180; |
ryuna | 0:65b9e62cc2b6 | 96 | if((Temp>70) &&(Temp<110)){ |
ryuna | 0:65b9e62cc2b6 | 97 | Temp = abs(*Rad - Last_Rad); |
ryuna | 0:65b9e62cc2b6 | 98 | if(Temp>160){ |
ryuna | 0:65b9e62cc2b6 | 99 | Last_Vector = -1 * Last_Vector;//正転逆転切り替え |
ryuna | 0:65b9e62cc2b6 | 100 | if(*Rad/180){ |
ryuna | 0:65b9e62cc2b6 | 101 | *Rad = Angle[Last_Rad%180] -(Last_Rad - *Rad%180); |
ryuna | 0:65b9e62cc2b6 | 102 | *Power = *Power * Last_Vector; |
ryuna | 0:65b9e62cc2b6 | 103 | }else{ |
ryuna | 0:65b9e62cc2b6 | 104 | *Rad = Angle[Last_Rad%180] -(Last_Rad%180 - *Rad); |
ryuna | 0:65b9e62cc2b6 | 105 | *Power = *Power * Last_Vector; |
ryuna | 0:65b9e62cc2b6 | 106 | } |
ryuna | 0:65b9e62cc2b6 | 107 | Last_Rad = rad; |
ryuna | 0:65b9e62cc2b6 | 108 | return; |
ryuna | 0:65b9e62cc2b6 | 109 | }else if((Last_Vector+2) == 1){ |
ryuna | 0:65b9e62cc2b6 | 110 | /*逆転のまま角度拡張*/ |
ryuna | 0:65b9e62cc2b6 | 111 | if(*Rad/180){ |
ryuna | 0:65b9e62cc2b6 | 112 | *Rad = -360 + *Rad ; |
ryuna | 0:65b9e62cc2b6 | 113 | *Power = *Power * Last_Vector; |
ryuna | 0:65b9e62cc2b6 | 114 | }else{ |
ryuna | 0:65b9e62cc2b6 | 115 | *Power = *Power * Last_Vector; |
ryuna | 0:65b9e62cc2b6 | 116 | } |
ryuna | 0:65b9e62cc2b6 | 117 | Last_Rad = rad; |
ryuna | 0:65b9e62cc2b6 | 118 | return; |
ryuna | 0:65b9e62cc2b6 | 119 | |
ryuna | 0:65b9e62cc2b6 | 120 | }else if((Last_Vector+2) == 3){ |
ryuna | 0:65b9e62cc2b6 | 121 | /*正転のまま*/ |
ryuna | 0:65b9e62cc2b6 | 122 | if(*Rad/180){ |
ryuna | 0:65b9e62cc2b6 | 123 | *Rad = -360 + *Rad ; |
ryuna | 0:65b9e62cc2b6 | 124 | *Power = *Power * Last_Vector; |
ryuna | 0:65b9e62cc2b6 | 125 | }else{ |
ryuna | 0:65b9e62cc2b6 | 126 | *Power = *Power * Last_Vector; |
ryuna | 0:65b9e62cc2b6 | 127 | Last_Rad = rad; |
ryuna | 0:65b9e62cc2b6 | 128 | } |
ryuna | 0:65b9e62cc2b6 | 129 | Last_Rad = rad; |
ryuna | 0:65b9e62cc2b6 | 130 | return; |
ryuna | 0:65b9e62cc2b6 | 131 | } |
ryuna | 0:65b9e62cc2b6 | 132 | } |
ryuna | 0:65b9e62cc2b6 | 133 | } |
ryuna | 0:65b9e62cc2b6 | 134 | /*通常動作*/ |
ryuna | 0:65b9e62cc2b6 | 135 | Last_Vector = RadToVector[(*Rad-1)/90]; |
ryuna | 0:65b9e62cc2b6 | 136 | *Rad = Angle[*Rad%180]; |
ryuna | 0:65b9e62cc2b6 | 137 | *Power = *Power * Last_Vector; |
ryuna | 0:65b9e62cc2b6 | 138 | Last_Rad = rad; |
ryuna | 0:65b9e62cc2b6 | 139 | |
ryuna | 0:65b9e62cc2b6 | 140 | } |
ryuna | 0:65b9e62cc2b6 | 141 | int IrRad(){ |
ryuna | 0:65b9e62cc2b6 | 142 | /*irの1位の値,2位の場所からirの360へ持っていく*/ |
ryuna | 0:65b9e62cc2b6 | 143 | |
ryuna | 0:65b9e62cc2b6 | 144 | uint8_t IrF =IrData[0]/12,IrS = IrData[0]%12; |
ryuna | 0:65b9e62cc2b6 | 145 | int irrad; |
ryuna | 0:65b9e62cc2b6 | 146 | irrad = 359 - IrF*30; |
ryuna | 0:65b9e62cc2b6 | 147 | |
ryuna | 0:65b9e62cc2b6 | 148 | if(IrS){ |
ryuna | 0:65b9e62cc2b6 | 149 | if(IrF == 0 ){ |
ryuna | 0:65b9e62cc2b6 | 150 | if(IrS == 11){ |
ryuna | 0:65b9e62cc2b6 | 151 | irrad = 15; |
ryuna | 0:65b9e62cc2b6 | 152 | |
ryuna | 0:65b9e62cc2b6 | 153 | }else{ |
ryuna | 0:65b9e62cc2b6 | 154 | irrad = 345; |
ryuna | 0:65b9e62cc2b6 | 155 | } |
ryuna | 0:65b9e62cc2b6 | 156 | |
ryuna | 0:65b9e62cc2b6 | 157 | } |
ryuna | 0:65b9e62cc2b6 | 158 | irrad = irrad - (IrF - IrS)*15; |
ryuna | 0:65b9e62cc2b6 | 159 | |
ryuna | 0:65b9e62cc2b6 | 160 | } |
ryuna | 0:65b9e62cc2b6 | 161 | return irrad; |
ryuna | 0:65b9e62cc2b6 | 162 | } |
ryuna | 0:65b9e62cc2b6 | 163 | |
ryuna | 0:65b9e62cc2b6 | 164 | |
ryuna | 0:65b9e62cc2b6 | 165 | void IrFrontAction( uint8_t IrMemo[],double ReV)//ball 12 or 0 o-clock |
ryuna | 0:65b9e62cc2b6 | 166 | { |
ryuna | 0:65b9e62cc2b6 | 167 | |
ryuna | 0:65b9e62cc2b6 | 168 | } |
ryuna | 0:65b9e62cc2b6 | 169 | |
ryuna | 0:65b9e62cc2b6 | 170 | void IrBackAction( uint8_t IrMemo[],double ReV)//ball found six o-clock |
ryuna | 0:65b9e62cc2b6 | 171 | { |
ryuna | 0:65b9e62cc2b6 | 172 | /*** |
ryuna | 0:65b9e62cc2b6 | 173 | * 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 | 0:65b9e62cc2b6 | 174 | * |
ryuna | 0:65b9e62cc2b6 | 175 | **/ |
ryuna | 0:65b9e62cc2b6 | 176 | char Ping[2]={0}; |
ryuna | 0:65b9e62cc2b6 | 177 | |
ryuna | 0:65b9e62cc2b6 | 178 | //PingReceiveRL(Ping); |
ryuna | 0:65b9e62cc2b6 | 179 | |
ryuna | 0:65b9e62cc2b6 | 180 | |
ryuna | 0:65b9e62cc2b6 | 181 | if(IrMemo[0] == 6){//check ir number |
ryuna | 0:65b9e62cc2b6 | 182 | return ; |
ryuna | 0:65b9e62cc2b6 | 183 | } |
ryuna | 0:65b9e62cc2b6 | 184 | if(Ping[0]<Ping[1]){ |
ryuna | 0:65b9e62cc2b6 | 185 | /*右が大きい*/ |
ryuna | 0:65b9e62cc2b6 | 186 | |
ryuna | 0:65b9e62cc2b6 | 187 | |
ryuna | 0:65b9e62cc2b6 | 188 | return; |
ryuna | 0:65b9e62cc2b6 | 189 | } |
ryuna | 0:65b9e62cc2b6 | 190 | /*左が大きい*/ |
ryuna | 0:65b9e62cc2b6 | 191 | |
ryuna | 0:65b9e62cc2b6 | 192 | |
ryuna | 0:65b9e62cc2b6 | 193 | |
ryuna | 0:65b9e62cc2b6 | 194 | } |
ryuna | 0:65b9e62cc2b6 | 195 | |
ryuna | 0:65b9e62cc2b6 | 196 | void GoHome( uint8_t IrMemo[],double ReV)//Ball is not found. |
ryuna | 0:65b9e62cc2b6 | 197 | { |
ryuna | 0:65b9e62cc2b6 | 198 | //止まっとく |
ryuna | 0:65b9e62cc2b6 | 199 | S555.position(0.0); |
ryuna | 0:65b9e62cc2b6 | 200 | |
ryuna | 0:65b9e62cc2b6 | 201 | move(0,0,ReV,0); |
ryuna | 0:65b9e62cc2b6 | 202 | |
ryuna | 0:65b9e62cc2b6 | 203 | /*line検知をしないバージョン*/ |
ryuna | 0:65b9e62cc2b6 | 204 | /* |
ryuna | 0:65b9e62cc2b6 | 205 | char Ping[2] = {0}; |
ryuna | 0:65b9e62cc2b6 | 206 | |
ryuna | 0:65b9e62cc2b6 | 207 | |
ryuna | 0:65b9e62cc2b6 | 208 | PingReceiveFB(Ping); |
ryuna | 0:65b9e62cc2b6 | 209 | if(Ping[1] >=60){//後ろからの距離60cm |
ryuna | 0:65b9e62cc2b6 | 210 | move(-20,-20,ReV); |
ryuna | 0:65b9e62cc2b6 | 211 | PingReceiveFB(Ping); |
ryuna | 0:65b9e62cc2b6 | 212 | return ; |
ryuna | 0:65b9e62cc2b6 | 213 | } |
ryuna | 0:65b9e62cc2b6 | 214 | |
ryuna | 0:65b9e62cc2b6 | 215 | move(0,0,ReV);//stop |
ryuna | 0:65b9e62cc2b6 | 216 | */ |
ryuna | 0:65b9e62cc2b6 | 217 | } |
ryuna | 0:65b9e62cc2b6 | 218 | |
ryuna | 0:65b9e62cc2b6 | 219 | |
ryuna | 0:65b9e62cc2b6 | 220 | void PidUpdate() |
ryuna | 0:65b9e62cc2b6 | 221 | { |
ryuna | 0:65b9e62cc2b6 | 222 | |
ryuna | 0:65b9e62cc2b6 | 223 | //Compass = ((hmc6352.sample() / 10) + 540 - CompassDef) % 360; |
ryuna | 0:65b9e62cc2b6 | 224 | wait_ms(10); |
ryuna | 0:65b9e62cc2b6 | 225 | |
ryuna | 0:65b9e62cc2b6 | 226 | //pid.setSetPoint((int)((REFERENCE + SetC) / 1.0)); |
ryuna | 0:65b9e62cc2b6 | 227 | //InputPID = Compass; |
ryuna | 0:65b9e62cc2b6 | 228 | |
ryuna | 0:65b9e62cc2b6 | 229 | //pid.setProcessValue(InputPID); |
ryuna | 0:65b9e62cc2b6 | 230 | //CompassPID = -(pid.compute()); |
ryuna | 0:65b9e62cc2b6 | 231 | } |
ryuna | 0:65b9e62cc2b6 | 232 | |
ryuna | 0:65b9e62cc2b6 | 233 | |
ryuna | 0:65b9e62cc2b6 | 234 | |
ryuna | 0:65b9e62cc2b6 | 235 | |
ryuna | 0:65b9e62cc2b6 | 236 | |
ryuna | 0:65b9e62cc2b6 | 237 | |
ryuna | 0:65b9e62cc2b6 | 238 | |
ryuna | 0:65b9e62cc2b6 | 239 | uint8_t SwRead(){ |
ryuna | 0:65b9e62cc2b6 | 240 | /****** |
ryuna | 0:65b9e62cc2b6 | 241 | *retrun : sw_state |
ryuna | 0:65b9e62cc2b6 | 242 | *StartS = 0x01; |
ryuna | 0:65b9e62cc2b6 | 243 | *Debug2 = 0x02; |
ryuna | 0:65b9e62cc2b6 | 244 | *Debug1 = 0x04; |
ryuna | 0:65b9e62cc2b6 | 245 | *Debug3 = 0x06; |
ryuna | 0:65b9e62cc2b6 | 246 | *Kicker = 0x08; |
ryuna | 0:65b9e62cc2b6 | 247 | *Calibration = 0x10; |
ryuna | 0:65b9e62cc2b6 | 248 | |
ryuna | 0:65b9e62cc2b6 | 249 | * |
ryuna | 0:65b9e62cc2b6 | 250 | *****/ |
ryuna | 0:65b9e62cc2b6 | 251 | uint8_t i,temp,temp2; |
ryuna | 0:65b9e62cc2b6 | 252 | temp = ~Sw - 224; |
ryuna | 0:65b9e62cc2b6 | 253 | if(!(temp == Kicker |
ryuna | 0:65b9e62cc2b6 | 254 | ||temp == Debug1 |
ryuna | 0:65b9e62cc2b6 | 255 | ||temp == Debug2 |
ryuna | 0:65b9e62cc2b6 | 256 | ||temp == Debug3 |
ryuna | 0:65b9e62cc2b6 | 257 | ||temp == StartS)) return 0;/*スイッチが押されていない*/ |
ryuna | 0:65b9e62cc2b6 | 258 | if(!(temp == 0x00)){ |
ryuna | 0:65b9e62cc2b6 | 259 | for(i = 0; i < 50; i++); |
ryuna | 0:65b9e62cc2b6 | 260 | temp2 = ~Sw - 224; |
ryuna | 0:65b9e62cc2b6 | 261 | if(temp == temp2){ |
ryuna | 0:65b9e62cc2b6 | 262 | return temp; |
ryuna | 0:65b9e62cc2b6 | 263 | } |
ryuna | 0:65b9e62cc2b6 | 264 | } |
ryuna | 0:65b9e62cc2b6 | 265 | return 0; |
ryuna | 0:65b9e62cc2b6 | 266 | } |
ryuna | 0:65b9e62cc2b6 | 267 | |
ryuna | 0:65b9e62cc2b6 | 268 | //通信(モータ用) |
ryuna | 0:65b9e62cc2b6 | 269 | void tx_motor(){ |
ryuna | 0:65b9e62cc2b6 | 270 | array(speed[0],speed[1],speed[3],speed[2]); |
ryuna | 0:65b9e62cc2b6 | 271 | Motor.printf("%s",StringFIN.c_str()); |
ryuna | 0:65b9e62cc2b6 | 272 | S555.position(SetRad); |
ryuna | 0:65b9e62cc2b6 | 273 | } |
ryuna | 0:65b9e62cc2b6 | 274 | |
ryuna | 0:65b9e62cc2b6 | 275 | void SetUp(){ |
ryuna | 0:65b9e62cc2b6 | 276 | /*初期化*/ |
ryuna | 0:65b9e62cc2b6 | 277 | Motor.baud(115200); //ボーレート設定 |
ryuna | 0:65b9e62cc2b6 | 278 | Motor.printf("1F0002F0003F0004F000\r\n"); //モータ停止 |
ryuna | 0:65b9e62cc2b6 | 279 | Motor.attach(&tx_motor,Serial::TxIrq); //送信空き割り込み(モータ用) |
ryuna | 0:65b9e62cc2b6 | 280 | |
ryuna | 0:65b9e62cc2b6 | 281 | |
ryuna | 0:65b9e62cc2b6 | 282 | S555.calibrate(0.0005, 120.0); |
ryuna | 0:65b9e62cc2b6 | 283 | S555.position(0.0); //初期位置にセット |
ryuna | 0:65b9e62cc2b6 | 284 | move(0,0,0,0);//停止 |
ryuna | 0:65b9e62cc2b6 | 285 | |
ryuna | 0:65b9e62cc2b6 | 286 | Kick = 0; |
ryuna | 0:65b9e62cc2b6 | 287 | Sw.mode(PullUp); |
ryuna | 0:65b9e62cc2b6 | 288 | |
ryuna | 0:65b9e62cc2b6 | 289 | |
ryuna | 0:65b9e62cc2b6 | 290 | pid.setInputLimits(MINIMUM,MAXIMUM); //pid sed def |
ryuna | 0:65b9e62cc2b6 | 291 | pid.setOutputLimits(-OUT_LIMIT, OUT_LIMIT); //pid sed def |
ryuna | 0:65b9e62cc2b6 | 292 | pid.setBias(PID_BIAS); //pid sed def |
ryuna | 0:65b9e62cc2b6 | 293 | pid.setMode(AUTO_MODE); //pid sed def |
ryuna | 0:65b9e62cc2b6 | 294 | pid.setSetPoint(REFERENCE); //pid sed def |
ryuna | 0:65b9e62cc2b6 | 295 | |
ryuna | 0:65b9e62cc2b6 | 296 | Mbed.read_data(rx_data, ADDRESS); |
ryuna | 0:65b9e62cc2b6 | 297 | Mbed.start_read(); |
ryuna | 0:65b9e62cc2b6 | 298 | |
ryuna | 0:65b9e62cc2b6 | 299 | |
ryuna | 0:65b9e62cc2b6 | 300 | } |
ryuna | 0:65b9e62cc2b6 | 301 | void StartLoop(){ |
ryuna | 0:65b9e62cc2b6 | 302 | |
ryuna | 0:65b9e62cc2b6 | 303 | uint8_t State = 0; |
ryuna | 0:65b9e62cc2b6 | 304 | uint8_t Irnum = 0; |
ryuna | 0:65b9e62cc2b6 | 305 | uint8_t LineData = 0; |
ryuna | 0:65b9e62cc2b6 | 306 | while(1){ |
ryuna | 0:65b9e62cc2b6 | 307 | Led[0] = Led[1] = Led[2] = Led[3] = 1; |
ryuna | 0:65b9e62cc2b6 | 308 | //Lcd.cls(); |
ryuna | 0:65b9e62cc2b6 | 309 | State = SwRead(); |
ryuna | 0:65b9e62cc2b6 | 310 | if(State == 0) continue; |
ryuna | 0:65b9e62cc2b6 | 311 | |
ryuna | 0:65b9e62cc2b6 | 312 | if(State == StartS){ |
ryuna | 0:65b9e62cc2b6 | 313 | /*loop end & start*/ |
ryuna | 0:65b9e62cc2b6 | 314 | return; |
ryuna | 0:65b9e62cc2b6 | 315 | } |
ryuna | 0:65b9e62cc2b6 | 316 | |
ryuna | 0:65b9e62cc2b6 | 317 | if(State == Debug1){ |
ryuna | 0:65b9e62cc2b6 | 318 | while((State == Debug1)){ |
ryuna | 0:65b9e62cc2b6 | 319 | LineData = (~Line+0x00) & 0x0F; |
ryuna | 0:65b9e62cc2b6 | 320 | Lcd.printf("%d\n",LineData); |
ryuna | 0:65b9e62cc2b6 | 321 | |
ryuna | 0:65b9e62cc2b6 | 322 | wait_ms(100); |
ryuna | 0:65b9e62cc2b6 | 323 | State = SwRead(); |
ryuna | 0:65b9e62cc2b6 | 324 | } |
ryuna | 0:65b9e62cc2b6 | 325 | Lcd.cls(); |
ryuna | 0:65b9e62cc2b6 | 326 | continue; |
ryuna | 0:65b9e62cc2b6 | 327 | |
ryuna | 0:65b9e62cc2b6 | 328 | } |
ryuna | 0:65b9e62cc2b6 | 329 | if(State == Debug2){ |
ryuna | 0:65b9e62cc2b6 | 330 | while((State == Debug2)){ |
ryuna | 0:65b9e62cc2b6 | 331 | //Irnum = IrReceiveFast(); |
ryuna | 0:65b9e62cc2b6 | 332 | Lcd.printf("%d\n",Irnum); |
ryuna | 0:65b9e62cc2b6 | 333 | wait_ms(100); |
ryuna | 0:65b9e62cc2b6 | 334 | State = SwRead(); |
ryuna | 0:65b9e62cc2b6 | 335 | } |
ryuna | 0:65b9e62cc2b6 | 336 | Lcd.cls(); |
ryuna | 0:65b9e62cc2b6 | 337 | continue; |
ryuna | 0:65b9e62cc2b6 | 338 | } |
ryuna | 0:65b9e62cc2b6 | 339 | |
ryuna | 0:65b9e62cc2b6 | 340 | if(State == Debug3){ |
ryuna | 0:65b9e62cc2b6 | 341 | while((State == Debug3)){ |
ryuna | 0:65b9e62cc2b6 | 342 | //Lcd.printf("%d\n",Compass); |
ryuna | 0:65b9e62cc2b6 | 343 | wait_ms(100); |
ryuna | 0:65b9e62cc2b6 | 344 | State = SwRead(); |
ryuna | 0:65b9e62cc2b6 | 345 | } |
ryuna | 0:65b9e62cc2b6 | 346 | Lcd.cls(); |
ryuna | 0:65b9e62cc2b6 | 347 | continue; |
ryuna | 0:65b9e62cc2b6 | 348 | } |
ryuna | 0:65b9e62cc2b6 | 349 | |
ryuna | 0:65b9e62cc2b6 | 350 | if(State == Kicker){ |
ryuna | 0:65b9e62cc2b6 | 351 | Led[0] = Led[1] = Led[2] = 0; |
ryuna | 0:65b9e62cc2b6 | 352 | /*move(20,20,0,0); |
ryuna | 0:65b9e62cc2b6 | 353 | while((State == Kicker)){ |
ryuna | 0:65b9e62cc2b6 | 354 | wait_ms(100); |
ryuna | 0:65b9e62cc2b6 | 355 | State = SwRead(); |
ryuna | 0:65b9e62cc2b6 | 356 | |
ryuna | 0:65b9e62cc2b6 | 357 | } |
ryuna | 0:65b9e62cc2b6 | 358 | move(0,0,0,0); |
ryuna | 0:65b9e62cc2b6 | 359 | */ |
ryuna | 0:65b9e62cc2b6 | 360 | continue; |
ryuna | 0:65b9e62cc2b6 | 361 | } |
ryuna | 0:65b9e62cc2b6 | 362 | } |
ryuna | 0:65b9e62cc2b6 | 363 | |
ryuna | 0:65b9e62cc2b6 | 364 | } |
ryuna | 0:65b9e62cc2b6 | 365 | int main() { |
ryuna | 0:65b9e62cc2b6 | 366 | |
ryuna | 0:65b9e62cc2b6 | 367 | /*Ir*/ |
ryuna | 0:65b9e62cc2b6 | 368 | 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 | 0:65b9e62cc2b6 | 369 | //uint8_t IrNumOld = 0;//過去値 |
ryuna | 0:65b9e62cc2b6 | 370 | /*Line*/ |
ryuna | 0:65b9e62cc2b6 | 371 | uint8_t LineData = 0; |
ryuna | 0:65b9e62cc2b6 | 372 | |
ryuna | 0:65b9e62cc2b6 | 373 | |
ryuna | 0:65b9e62cc2b6 | 374 | /*PID補正move加算値 Revise */ |
ryuna | 0:65b9e62cc2b6 | 375 | double ReV = 0.0; |
ryuna | 0:65b9e62cc2b6 | 376 | double SetC; |
ryuna | 0:65b9e62cc2b6 | 377 | |
ryuna | 0:65b9e62cc2b6 | 378 | /*State */ |
ryuna | 0:65b9e62cc2b6 | 379 | uint8_t LineIr = 0; |
ryuna | 0:65b9e62cc2b6 | 380 | uint8_t IrChange[13] ={0x01,0x01,0x02,0x02,0x02,0x04, |
ryuna | 0:65b9e62cc2b6 | 381 | 0x04,0x04,0x08,0x08,0x08,0x01,0x00}; |
ryuna | 0:65b9e62cc2b6 | 382 | /*行動設定*/ |
ryuna | 0:65b9e62cc2b6 | 383 | int Power = 0; |
ryuna | 0:65b9e62cc2b6 | 384 | int Rad = 0; |
ryuna | 0:65b9e62cc2b6 | 385 | |
ryuna | 0:65b9e62cc2b6 | 386 | |
ryuna | 0:65b9e62cc2b6 | 387 | /*楽しい変数達*/ |
ryuna | 0:65b9e62cc2b6 | 388 | int nRad =0;//基礎角 |
ryuna | 0:65b9e62cc2b6 | 389 | int addRad = 0;//追加角 |
ryuna | 0:65b9e62cc2b6 | 390 | |
ryuna | 0:65b9e62cc2b6 | 391 | |
ryuna | 0:65b9e62cc2b6 | 392 | |
ryuna | 0:65b9e62cc2b6 | 393 | /*関数ポインタ*/ |
ryuna | 0:65b9e62cc2b6 | 394 | /* |
ryuna | 0:65b9e62cc2b6 | 395 | void (*AnotherAction[3])(uint8_t [],double); |
ryuna | 0:65b9e62cc2b6 | 396 | AnotherAction[0] = IrFrontAction; |
ryuna | 0:65b9e62cc2b6 | 397 | AnotherAction[1] = IrBackAction; |
ryuna | 0:65b9e62cc2b6 | 398 | AnotherAction[2] = GoHome; |
ryuna | 0:65b9e62cc2b6 | 399 | */ |
ryuna | 0:65b9e62cc2b6 | 400 | SetUp();/*set up routine*/ |
ryuna | 0:65b9e62cc2b6 | 401 | StartLoop(); /*loop strat, switch push end*/ |
ryuna | 0:65b9e62cc2b6 | 402 | |
ryuna | 0:65b9e62cc2b6 | 403 | while(1){ |
ryuna | 0:65b9e62cc2b6 | 404 | Power = 0; |
ryuna | 0:65b9e62cc2b6 | 405 | Led[0] = 1; |
ryuna | 0:65b9e62cc2b6 | 406 | Rad = 0; |
ryuna | 0:65b9e62cc2b6 | 407 | ReV = 0; |
ryuna | 0:65b9e62cc2b6 | 408 | SetC = 0.0; |
ryuna | 0:65b9e62cc2b6 | 409 | |
ryuna | 0:65b9e62cc2b6 | 410 | Receive(); |
ryuna | 0:65b9e62cc2b6 | 411 | |
ryuna | 0:65b9e62cc2b6 | 412 | /*白線を読んでいないか確認する*/ |
ryuna | 0:65b9e62cc2b6 | 413 | LineData = (~Line+0x00) & 0x0F; |
ryuna | 0:65b9e62cc2b6 | 414 | if(LineData){ |
ryuna | 0:65b9e62cc2b6 | 415 | while(LineData){ |
ryuna | 0:65b9e62cc2b6 | 416 | move(0,0,0,0);// |
ryuna | 0:65b9e62cc2b6 | 417 | Led[1] = Led[2] = Led[3] = 1; |
ryuna | 0:65b9e62cc2b6 | 418 | LineData = (~Line+0x00) & 0x0F; |
ryuna | 0:65b9e62cc2b6 | 419 | wait_ms(10); |
ryuna | 0:65b9e62cc2b6 | 420 | } |
ryuna | 0:65b9e62cc2b6 | 421 | Led[1] = Led[2] = Led[3] = 0; |
ryuna | 0:65b9e62cc2b6 | 422 | |
ryuna | 0:65b9e62cc2b6 | 423 | } |
ryuna | 0:65b9e62cc2b6 | 424 | |
ryuna | 0:65b9e62cc2b6 | 425 | |
ryuna | 0:65b9e62cc2b6 | 426 | Led[3] = 1; |
ryuna | 0:65b9e62cc2b6 | 427 | |
ryuna | 0:65b9e62cc2b6 | 428 | if(IrNum == 12){ |
ryuna | 0:65b9e62cc2b6 | 429 | move(0,0,ReV,Rad); |
ryuna | 0:65b9e62cc2b6 | 430 | continue; |
ryuna | 0:65b9e62cc2b6 | 431 | } |
ryuna | 0:65b9e62cc2b6 | 432 | |
ryuna | 0:65b9e62cc2b6 | 433 | Rad = IrRad(); |
ryuna | 0:65b9e62cc2b6 | 434 | nRad = wrapRad[Rad/15]; |
ryuna | 0:65b9e62cc2b6 | 435 | Power = 20; |
ryuna | 0:65b9e62cc2b6 | 436 | |
ryuna | 0:65b9e62cc2b6 | 437 | |
ryuna | 0:65b9e62cc2b6 | 438 | Rad = nRad + addRad; |
ryuna | 0:65b9e62cc2b6 | 439 | |
ryuna | 0:65b9e62cc2b6 | 440 | fool(&Rad,&Power); |
ryuna | 0:65b9e62cc2b6 | 441 | move(Power,Power,ReV,Rad); |
ryuna | 0:65b9e62cc2b6 | 442 | |
ryuna | 0:65b9e62cc2b6 | 443 | wait_ms(10); |
ryuna | 0:65b9e62cc2b6 | 444 | |
ryuna | 0:65b9e62cc2b6 | 445 | Led[0] =0; |
ryuna | 0:65b9e62cc2b6 | 446 | |
ryuna | 0:65b9e62cc2b6 | 447 | |
ryuna | 0:65b9e62cc2b6 | 448 | } |
ryuna | 0:65b9e62cc2b6 | 449 | |
ryuna | 0:65b9e62cc2b6 | 450 | /* |
ryuna | 0:65b9e62cc2b6 | 451 | while(0){ |
ryuna | 0:65b9e62cc2b6 | 452 | //デモプログラム |
ryuna | 0:65b9e62cc2b6 | 453 | S555.position(0.0); |
ryuna | 0:65b9e62cc2b6 | 454 | |
ryuna | 0:65b9e62cc2b6 | 455 | wait(1.5); |
ryuna | 0:65b9e62cc2b6 | 456 | S555.position(90.0); |
ryuna | 0:65b9e62cc2b6 | 457 | |
ryuna | 0:65b9e62cc2b6 | 458 | } |
ryuna | 0:65b9e62cc2b6 | 459 | |
ryuna | 0:65b9e62cc2b6 | 460 | */ |
ryuna | 0:65b9e62cc2b6 | 461 | |
ryuna | 0:65b9e62cc2b6 | 462 | |
ryuna | 0:65b9e62cc2b6 | 463 | } |