version 3 通信方式,マイコン等に変更あり
Dependencies: AQM0802A PID Servo mbed
main.cpp@2:e84bb87eea71, 2015-03-10 (annotated)
- Committer:
- ryuna
- Date:
- Tue Mar 10 08:28:15 2015 +0000
- Revision:
- 2:e84bb87eea71
- Parent:
- 1:f91d53098d57
- Child:
- 3:4a39486ff238
???
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 | 2:e84bb87eea71 | 42 | #include "MultiSerial.h" |
ryuna | 0:65b9e62cc2b6 | 43 | #include "PID.h" |
ryuna | 0:65b9e62cc2b6 | 44 | #include "AQM0802A.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 | 2:e84bb87eea71 | 59 | if((IrData[0] == 255)||(IrData[1] == 255)||(IrData[2] == 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 | 2:e84bb87eea71 | 68 | void move(int vr,int vl, double vs ,int Degree){ |
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 | 2:e84bb87eea71 | 74 | pwm[3] = vl*1.1 + 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 | 2:e84bb87eea71 | 84 | if(Degree > 110){ |
ryuna | 2:e84bb87eea71 | 85 | Degree = 110; |
ryuna | 2:e84bb87eea71 | 86 | }else if(Degree < -110){ |
ryuna | 2:e84bb87eea71 | 87 | Degree = -110; |
ryuna | 2:e84bb87eea71 | 88 | } |
ryuna | 2:e84bb87eea71 | 89 | SetDegree = Degree; |
ryuna | 2:e84bb87eea71 | 90 | S555.position(SetDegree); |
ryuna | 0:65b9e62cc2b6 | 91 | wait_ms(10); |
ryuna | 0:65b9e62cc2b6 | 92 | } |
ryuna | 2:e84bb87eea71 | 93 | |
ryuna | 2:e84bb87eea71 | 94 | uint8_t PingChange(uint8_t LineData){ |
ryuna | 2:e84bb87eea71 | 95 | static uint8_t Last_Line; |
ryuna | 2:e84bb87eea71 | 96 | static uint8_t Last_Ping; |
ryuna | 2:e84bb87eea71 | 97 | uint8_t LinePing = 0; |
ryuna | 2:e84bb87eea71 | 98 | |
ryuna | 2:e84bb87eea71 | 99 | if(!LineData){ |
ryuna | 2:e84bb87eea71 | 100 | return 0; |
ryuna | 2:e84bb87eea71 | 101 | } |
ryuna | 2:e84bb87eea71 | 102 | |
ryuna | 2:e84bb87eea71 | 103 | if(PingData[0] <40) LinePing = LinePing + 1; |
ryuna | 2:e84bb87eea71 | 104 | if(PingData[1] <40) LinePing = LinePing + 2; |
ryuna | 2:e84bb87eea71 | 105 | if(PingData[2] <40) LinePing = LinePing + 4; |
ryuna | 2:e84bb87eea71 | 106 | if(PingData[3] <40) LinePing = LinePing + 8; |
ryuna | 2:e84bb87eea71 | 107 | |
ryuna | 2:e84bb87eea71 | 108 | |
ryuna | 2:e84bb87eea71 | 109 | if(LinePing&0x01){ |
ryuna | 2:e84bb87eea71 | 110 | if((LineData&0x01) ||(Last_Line&0x01)||(Last_Ping&0x01)){ |
ryuna | 2:e84bb87eea71 | 111 | Last_Ping = LinePing; |
ryuna | 2:e84bb87eea71 | 112 | Last_Line = LineData; |
ryuna | 2:e84bb87eea71 | 113 | return 1; |
ryuna | 2:e84bb87eea71 | 114 | } |
ryuna | 2:e84bb87eea71 | 115 | } |
ryuna | 2:e84bb87eea71 | 116 | if(LinePing&0x02){ |
ryuna | 2:e84bb87eea71 | 117 | if((LineData&0x02) ||(Last_Line&0x02)||(Last_Ping&0x02)){ |
ryuna | 2:e84bb87eea71 | 118 | Last_Ping = LinePing; |
ryuna | 2:e84bb87eea71 | 119 | Last_Line = LineData; |
ryuna | 2:e84bb87eea71 | 120 | return 2; |
ryuna | 2:e84bb87eea71 | 121 | } |
ryuna | 2:e84bb87eea71 | 122 | } |
ryuna | 2:e84bb87eea71 | 123 | if(LinePing&0x04){ |
ryuna | 2:e84bb87eea71 | 124 | if((LineData&0x04) ||(Last_Line&0x04)||(Last_Ping&0x04)){ |
ryuna | 2:e84bb87eea71 | 125 | Last_Ping = LinePing; |
ryuna | 2:e84bb87eea71 | 126 | Last_Line = LineData; |
ryuna | 2:e84bb87eea71 | 127 | return 4; |
ryuna | 2:e84bb87eea71 | 128 | } |
ryuna | 2:e84bb87eea71 | 129 | } |
ryuna | 2:e84bb87eea71 | 130 | if(LinePing&0x08){ |
ryuna | 2:e84bb87eea71 | 131 | if((LineData&0x08) ||(Last_Line&0x08)||(Last_Ping&0x08)){ |
ryuna | 2:e84bb87eea71 | 132 | Last_Ping = LinePing; |
ryuna | 2:e84bb87eea71 | 133 | Last_Line = LineData; |
ryuna | 2:e84bb87eea71 | 134 | return 8; |
ryuna | 2:e84bb87eea71 | 135 | } |
ryuna | 2:e84bb87eea71 | 136 | } |
ryuna | 2:e84bb87eea71 | 137 | Last_Ping = 0; |
ryuna | 2:e84bb87eea71 | 138 | Last_Line = 0; |
ryuna | 2:e84bb87eea71 | 139 | return 0; |
ryuna | 2:e84bb87eea71 | 140 | |
ryuna | 2:e84bb87eea71 | 141 | } |
ryuna | 2:e84bb87eea71 | 142 | |
ryuna | 2:e84bb87eea71 | 143 | void fool (int *Degree, int *Power){ |
ryuna | 2:e84bb87eea71 | 144 | static int Last_Degree = 0; |
ryuna | 0:65b9e62cc2b6 | 145 | static int Last_Vector = 1; |
ryuna | 2:e84bb87eea71 | 146 | int degree = *Degree; |
ryuna | 0:65b9e62cc2b6 | 147 | int Temp; |
ryuna | 2:e84bb87eea71 | 148 | |
ryuna | 2:e84bb87eea71 | 149 | |
ryuna | 2:e84bb87eea71 | 150 | if((*Degree <0)||(*Degree >=360)){ |
ryuna | 2:e84bb87eea71 | 151 | *Degree = 0; |
ryuna | 2:e84bb87eea71 | 152 | Last_Degree = 0; |
ryuna | 2:e84bb87eea71 | 153 | Last_Vector = 1; |
ryuna | 2:e84bb87eea71 | 154 | return ; |
ryuna | 2:e84bb87eea71 | 155 | } |
ryuna | 2:e84bb87eea71 | 156 | |
ryuna | 2:e84bb87eea71 | 157 | Temp = Last_Degree % 180; |
ryuna | 2:e84bb87eea71 | 158 | if((Temp==90)){ |
ryuna | 2:e84bb87eea71 | 159 | Temp = *Degree % 180; |
ryuna | 2:e84bb87eea71 | 160 | if((Temp==90)){ |
ryuna | 2:e84bb87eea71 | 161 | Temp = abs(*Degree - Last_Degree); |
ryuna | 0:65b9e62cc2b6 | 162 | if(Temp>160){ |
ryuna | 0:65b9e62cc2b6 | 163 | Last_Vector = -1 * Last_Vector;//正転逆転切り替え |
ryuna | 2:e84bb87eea71 | 164 | if(*Degree/180){ |
ryuna | 2:e84bb87eea71 | 165 | *Degree = Angle[Last_Degree%180] -(Last_Degree - *Degree%180); |
ryuna | 0:65b9e62cc2b6 | 166 | *Power = *Power * Last_Vector; |
ryuna | 0:65b9e62cc2b6 | 167 | }else{ |
ryuna | 2:e84bb87eea71 | 168 | *Degree = Angle[Last_Degree%180] -(Last_Degree%180 - *Degree); |
ryuna | 0:65b9e62cc2b6 | 169 | *Power = *Power * Last_Vector; |
ryuna | 0:65b9e62cc2b6 | 170 | } |
ryuna | 2:e84bb87eea71 | 171 | Last_Degree = degree; |
ryuna | 2:e84bb87eea71 | 172 | if((*Degree <= -120)||(*Degree >=120)){ |
ryuna | 2:e84bb87eea71 | 173 | *Degree = 0; |
ryuna | 2:e84bb87eea71 | 174 | } |
ryuna | 0:65b9e62cc2b6 | 175 | return; |
ryuna | 0:65b9e62cc2b6 | 176 | }else if((Last_Vector+2) == 1){ |
ryuna | 0:65b9e62cc2b6 | 177 | /*逆転のまま角度拡張*/ |
ryuna | 2:e84bb87eea71 | 178 | if(*Degree/180){ |
ryuna | 2:e84bb87eea71 | 179 | *Degree = -360 + *Degree ; |
ryuna | 2:e84bb87eea71 | 180 | |
ryuna | 0:65b9e62cc2b6 | 181 | } |
ryuna | 2:e84bb87eea71 | 182 | *Power = *Power * Last_Vector; |
ryuna | 2:e84bb87eea71 | 183 | Last_Degree = degree; |
ryuna | 2:e84bb87eea71 | 184 | if((*Degree <= -120)||(*Degree >=120)){ |
ryuna | 2:e84bb87eea71 | 185 | *Degree = 0; |
ryuna | 2:e84bb87eea71 | 186 | |
ryuna | 2:e84bb87eea71 | 187 | } |
ryuna | 0:65b9e62cc2b6 | 188 | return; |
ryuna | 0:65b9e62cc2b6 | 189 | |
ryuna | 0:65b9e62cc2b6 | 190 | }else if((Last_Vector+2) == 3){ |
ryuna | 0:65b9e62cc2b6 | 191 | /*正転のまま*/ |
ryuna | 2:e84bb87eea71 | 192 | if(*Degree/180){ |
ryuna | 2:e84bb87eea71 | 193 | *Degree = -360 + *Degree ; |
ryuna | 0:65b9e62cc2b6 | 194 | } |
ryuna | 2:e84bb87eea71 | 195 | *Power = *Power * Last_Vector; |
ryuna | 2:e84bb87eea71 | 196 | Last_Degree = degree; |
ryuna | 2:e84bb87eea71 | 197 | if((*Degree <= -120)||(*Degree >=120)){ |
ryuna | 2:e84bb87eea71 | 198 | *Degree = 0; |
ryuna | 2:e84bb87eea71 | 199 | } |
ryuna | 0:65b9e62cc2b6 | 200 | return; |
ryuna | 0:65b9e62cc2b6 | 201 | } |
ryuna | 0:65b9e62cc2b6 | 202 | } |
ryuna | 0:65b9e62cc2b6 | 203 | } |
ryuna | 0:65b9e62cc2b6 | 204 | /*通常動作*/ |
ryuna | 2:e84bb87eea71 | 205 | if(*Degree == 0){ |
ryuna | 2:e84bb87eea71 | 206 | Last_Vector = DegreeToVector[0]; |
ryuna | 2:e84bb87eea71 | 207 | *Degree = Angle[*Degree%180]; |
ryuna | 2:e84bb87eea71 | 208 | *Power = *Power * Last_Vector; |
ryuna | 2:e84bb87eea71 | 209 | Last_Degree = degree; |
ryuna | 2:e84bb87eea71 | 210 | return ; |
ryuna | 2:e84bb87eea71 | 211 | } |
ryuna | 2:e84bb87eea71 | 212 | Last_Vector = DegreeToVector[(*Degree-1)/90]; |
ryuna | 2:e84bb87eea71 | 213 | *Degree = Angle[*Degree%180]; |
ryuna | 0:65b9e62cc2b6 | 214 | *Power = *Power * Last_Vector; |
ryuna | 2:e84bb87eea71 | 215 | Last_Degree = degree; |
ryuna | 2:e84bb87eea71 | 216 | if((*Degree <= -120)||(*Degree >=120)){ |
ryuna | 2:e84bb87eea71 | 217 | *Degree = 0; |
ryuna | 2:e84bb87eea71 | 218 | } |
ryuna | 0:65b9e62cc2b6 | 219 | |
ryuna | 0:65b9e62cc2b6 | 220 | } |
ryuna | 2:e84bb87eea71 | 221 | int IrDegree(){ |
ryuna | 0:65b9e62cc2b6 | 222 | /*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 | 223 | |
ryuna | 2:e84bb87eea71 | 224 | uint8_t IrF ,IrS; |
ryuna | 2:e84bb87eea71 | 225 | unsigned int irdegree = 0; |
ryuna | 2:e84bb87eea71 | 226 | if(IrNum >=12){ |
ryuna | 2:e84bb87eea71 | 227 | return 0; |
ryuna | 2:e84bb87eea71 | 228 | } |
ryuna | 2:e84bb87eea71 | 229 | IrF = IrData[0]/12; |
ryuna | 2:e84bb87eea71 | 230 | IrS = IrData[0]%12; |
ryuna | 2:e84bb87eea71 | 231 | |
ryuna | 2:e84bb87eea71 | 232 | if(IrF == 0 ){ |
ryuna | 2:e84bb87eea71 | 233 | if(IrS == 11){ |
ryuna | 2:e84bb87eea71 | 234 | irdegree = 15; |
ryuna | 0:65b9e62cc2b6 | 235 | |
ryuna | 2:e84bb87eea71 | 236 | }else if(IrS == 1){ |
ryuna | 2:e84bb87eea71 | 237 | irdegree = 345; |
ryuna | 2:e84bb87eea71 | 238 | } |
ryuna | 2:e84bb87eea71 | 239 | return irdegree; |
ryuna | 2:e84bb87eea71 | 240 | } |
ryuna | 2:e84bb87eea71 | 241 | irdegree = 360 - IrF*30; |
ryuna | 2:e84bb87eea71 | 242 | if(IrS&&(abs(IrF-IrS) == 1)){ |
ryuna | 2:e84bb87eea71 | 243 | irdegree = irdegree - (IrF - IrS)*15; |
ryuna | 0:65b9e62cc2b6 | 244 | |
ryuna | 0:65b9e62cc2b6 | 245 | } |
ryuna | 2:e84bb87eea71 | 246 | if(irdegree>=360){ |
ryuna | 2:e84bb87eea71 | 247 | return 0; |
ryuna | 2:e84bb87eea71 | 248 | } |
ryuna | 2:e84bb87eea71 | 249 | |
ryuna | 2:e84bb87eea71 | 250 | return irdegree; |
ryuna | 0:65b9e62cc2b6 | 251 | } |
ryuna | 0:65b9e62cc2b6 | 252 | |
ryuna | 0:65b9e62cc2b6 | 253 | |
ryuna | 2:e84bb87eea71 | 254 | void IrFrontAction()//ball 12 or 0 o-clock |
ryuna | 0:65b9e62cc2b6 | 255 | { |
ryuna | 2:e84bb87eea71 | 256 | if(IrData[1]>700){ |
ryuna | 2:e84bb87eea71 | 257 | if(abs(CompassPID)>10){ |
ryuna | 2:e84bb87eea71 | 258 | move(0,0,CompassPID,0); |
ryuna | 2:e84bb87eea71 | 259 | return; |
ryuna | 2:e84bb87eea71 | 260 | } |
ryuna | 2:e84bb87eea71 | 261 | move(30,30,CompassPID,0); |
ryuna | 2:e84bb87eea71 | 262 | return; |
ryuna | 2:e84bb87eea71 | 263 | } |
ryuna | 2:e84bb87eea71 | 264 | if(IrData[1]>600){ |
ryuna | 2:e84bb87eea71 | 265 | move(25,25,CompassPID,0); |
ryuna | 2:e84bb87eea71 | 266 | return; |
ryuna | 2:e84bb87eea71 | 267 | } |
ryuna | 2:e84bb87eea71 | 268 | /*IrData[1]>500*/ |
ryuna | 2:e84bb87eea71 | 269 | |
ryuna | 2:e84bb87eea71 | 270 | if(PingData[0]<50){ |
ryuna | 2:e84bb87eea71 | 271 | if((PingData[1]<60)&&(PingData[1]>40)){ |
ryuna | 2:e84bb87eea71 | 272 | /*右側に居る*/ |
ryuna | 2:e84bb87eea71 | 273 | move(25,40,0,10); |
ryuna | 2:e84bb87eea71 | 274 | wait_ms(100); |
ryuna | 2:e84bb87eea71 | 275 | move(30,30,0,0); |
ryuna | 2:e84bb87eea71 | 276 | return; |
ryuna | 2:e84bb87eea71 | 277 | } |
ryuna | 2:e84bb87eea71 | 278 | if((PingData[1]<60)&&(PingData[1]>40)){ |
ryuna | 2:e84bb87eea71 | 279 | /*左側に居る*/ |
ryuna | 2:e84bb87eea71 | 280 | move(40,25,0,-10); |
ryuna | 2:e84bb87eea71 | 281 | wait_ms(100); |
ryuna | 2:e84bb87eea71 | 282 | move(30,30,0,0); |
ryuna | 2:e84bb87eea71 | 283 | return; |
ryuna | 2:e84bb87eea71 | 284 | } |
ryuna | 2:e84bb87eea71 | 285 | /*それ以外*/ |
ryuna | 2:e84bb87eea71 | 286 | move(10,10,CompassPID,0); |
ryuna | 2:e84bb87eea71 | 287 | Receive(); |
ryuna | 2:e84bb87eea71 | 288 | if(!(IrNum == 0)) return; |
ryuna | 2:e84bb87eea71 | 289 | move(40,40,CompassPID,0); |
ryuna | 2:e84bb87eea71 | 290 | return ; |
ryuna | 2:e84bb87eea71 | 291 | } |
ryuna | 2:e84bb87eea71 | 292 | move(20,20,CompassPID,0); |
ryuna | 2:e84bb87eea71 | 293 | |
ryuna | 2:e84bb87eea71 | 294 | |
ryuna | 0:65b9e62cc2b6 | 295 | |
ryuna | 0:65b9e62cc2b6 | 296 | } |
ryuna | 0:65b9e62cc2b6 | 297 | |
ryuna | 2:e84bb87eea71 | 298 | void IrBackAction()//ball found six o-clock |
ryuna | 0:65b9e62cc2b6 | 299 | { |
ryuna | 0:65b9e62cc2b6 | 300 | /*** |
ryuna | 0:65b9e62cc2b6 | 301 | * 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 | 302 | * |
ryuna | 0:65b9e62cc2b6 | 303 | **/ |
ryuna | 2:e84bb87eea71 | 304 | if(PingData[1]>PingData[3]){ |
ryuna | 0:65b9e62cc2b6 | 305 | /*右が大きい*/ |
ryuna | 2:e84bb87eea71 | 306 | if(IrData[1]>700){ |
ryuna | 2:e84bb87eea71 | 307 | move(-20,-20,CompassPID,45); |
ryuna | 2:e84bb87eea71 | 308 | return; |
ryuna | 2:e84bb87eea71 | 309 | } |
ryuna | 2:e84bb87eea71 | 310 | if(IrData[1]>600){ |
ryuna | 2:e84bb87eea71 | 311 | move(-20,-20,CompassPID,60); |
ryuna | 2:e84bb87eea71 | 312 | return; |
ryuna | 2:e84bb87eea71 | 313 | } |
ryuna | 2:e84bb87eea71 | 314 | move(-20,-20,CompassPID,90); |
ryuna | 0:65b9e62cc2b6 | 315 | return; |
ryuna | 0:65b9e62cc2b6 | 316 | } |
ryuna | 0:65b9e62cc2b6 | 317 | /*左が大きい*/ |
ryuna | 0:65b9e62cc2b6 | 318 | |
ryuna | 2:e84bb87eea71 | 319 | if(IrData[1]>700){ |
ryuna | 2:e84bb87eea71 | 320 | move(-20,-20,CompassPID,-45); |
ryuna | 2:e84bb87eea71 | 321 | return; |
ryuna | 0:65b9e62cc2b6 | 322 | } |
ryuna | 2:e84bb87eea71 | 323 | if(IrData[1]>600){ |
ryuna | 2:e84bb87eea71 | 324 | move(-20,-20,CompassPID,-60); |
ryuna | 2:e84bb87eea71 | 325 | return; |
ryuna | 2:e84bb87eea71 | 326 | } |
ryuna | 2:e84bb87eea71 | 327 | move(-20,-20,CompassPID,-90); |
ryuna | 2:e84bb87eea71 | 328 | return; |
ryuna | 0:65b9e62cc2b6 | 329 | |
ryuna | 2:e84bb87eea71 | 330 | } |
ryuna | 2:e84bb87eea71 | 331 | |
ryuna | 2:e84bb87eea71 | 332 | void GoHome()//Ball is not found. |
ryuna | 2:e84bb87eea71 | 333 | { |
ryuna | 0:65b9e62cc2b6 | 334 | |
ryuna | 2:e84bb87eea71 | 335 | if(PingData[2] >=60){//後ろからの距離60cm |
ryuna | 2:e84bb87eea71 | 336 | move(-20,-20,CompassPID,0); |
ryuna | 0:65b9e62cc2b6 | 337 | return ; |
ryuna | 0:65b9e62cc2b6 | 338 | } |
ryuna | 0:65b9e62cc2b6 | 339 | |
ryuna | 2:e84bb87eea71 | 340 | move(0,0,CompassPID,0);//stop |
ryuna | 2:e84bb87eea71 | 341 | |
ryuna | 0:65b9e62cc2b6 | 342 | } |
ryuna | 0:65b9e62cc2b6 | 343 | |
ryuna | 0:65b9e62cc2b6 | 344 | |
ryuna | 0:65b9e62cc2b6 | 345 | void PidUpdate() |
ryuna | 0:65b9e62cc2b6 | 346 | { |
ryuna | 0:65b9e62cc2b6 | 347 | |
ryuna | 2:e84bb87eea71 | 348 | pid.setSetPoint((int)((REFERENCE + SetC) / 1.0)); |
ryuna | 2:e84bb87eea71 | 349 | InputPID = Compass; |
ryuna | 2:e84bb87eea71 | 350 | |
ryuna | 2:e84bb87eea71 | 351 | pid.setProcessValue(InputPID); |
ryuna | 2:e84bb87eea71 | 352 | CompassPID = -(pid.compute()); |
ryuna | 0:65b9e62cc2b6 | 353 | } |
ryuna | 0:65b9e62cc2b6 | 354 | |
ryuna | 0:65b9e62cc2b6 | 355 | |
ryuna | 0:65b9e62cc2b6 | 356 | |
ryuna | 0:65b9e62cc2b6 | 357 | |
ryuna | 0:65b9e62cc2b6 | 358 | |
ryuna | 0:65b9e62cc2b6 | 359 | |
ryuna | 0:65b9e62cc2b6 | 360 | |
ryuna | 0:65b9e62cc2b6 | 361 | uint8_t SwRead(){ |
ryuna | 0:65b9e62cc2b6 | 362 | /****** |
ryuna | 0:65b9e62cc2b6 | 363 | *retrun : sw_state |
ryuna | 0:65b9e62cc2b6 | 364 | *StartS = 0x01; |
ryuna | 0:65b9e62cc2b6 | 365 | *Debug2 = 0x02; |
ryuna | 0:65b9e62cc2b6 | 366 | *Debug1 = 0x04; |
ryuna | 0:65b9e62cc2b6 | 367 | *Debug3 = 0x06; |
ryuna | 0:65b9e62cc2b6 | 368 | *Kicker = 0x08; |
ryuna | 0:65b9e62cc2b6 | 369 | *Calibration = 0x10; |
ryuna | 0:65b9e62cc2b6 | 370 | |
ryuna | 0:65b9e62cc2b6 | 371 | * |
ryuna | 0:65b9e62cc2b6 | 372 | *****/ |
ryuna | 0:65b9e62cc2b6 | 373 | uint8_t i,temp,temp2; |
ryuna | 0:65b9e62cc2b6 | 374 | temp = ~Sw - 224; |
ryuna | 0:65b9e62cc2b6 | 375 | if(!(temp == Kicker |
ryuna | 0:65b9e62cc2b6 | 376 | ||temp == Debug1 |
ryuna | 0:65b9e62cc2b6 | 377 | ||temp == Debug2 |
ryuna | 0:65b9e62cc2b6 | 378 | ||temp == Debug3 |
ryuna | 0:65b9e62cc2b6 | 379 | ||temp == StartS)) return 0;/*スイッチが押されていない*/ |
ryuna | 0:65b9e62cc2b6 | 380 | if(!(temp == 0x00)){ |
ryuna | 0:65b9e62cc2b6 | 381 | for(i = 0; i < 50; i++); |
ryuna | 0:65b9e62cc2b6 | 382 | temp2 = ~Sw - 224; |
ryuna | 0:65b9e62cc2b6 | 383 | if(temp == temp2){ |
ryuna | 0:65b9e62cc2b6 | 384 | return temp; |
ryuna | 0:65b9e62cc2b6 | 385 | } |
ryuna | 0:65b9e62cc2b6 | 386 | } |
ryuna | 0:65b9e62cc2b6 | 387 | return 0; |
ryuna | 0:65b9e62cc2b6 | 388 | } |
ryuna | 0:65b9e62cc2b6 | 389 | |
ryuna | 0:65b9e62cc2b6 | 390 | //通信(モータ用) |
ryuna | 0:65b9e62cc2b6 | 391 | void tx_motor(){ |
ryuna | 0:65b9e62cc2b6 | 392 | array(speed[0],speed[1],speed[3],speed[2]); |
ryuna | 0:65b9e62cc2b6 | 393 | Motor.printf("%s",StringFIN.c_str()); |
ryuna | 0:65b9e62cc2b6 | 394 | } |
ryuna | 0:65b9e62cc2b6 | 395 | |
ryuna | 0:65b9e62cc2b6 | 396 | void SetUp(){ |
ryuna | 0:65b9e62cc2b6 | 397 | /*初期化*/ |
ryuna | 0:65b9e62cc2b6 | 398 | Motor.baud(115200); //ボーレート設定 |
ryuna | 0:65b9e62cc2b6 | 399 | Motor.printf("1F0002F0003F0004F000\r\n"); //モータ停止 |
ryuna | 0:65b9e62cc2b6 | 400 | Motor.attach(&tx_motor,Serial::TxIrq); //送信空き割り込み(モータ用) |
ryuna | 0:65b9e62cc2b6 | 401 | |
ryuna | 0:65b9e62cc2b6 | 402 | |
ryuna | 0:65b9e62cc2b6 | 403 | S555.calibrate(0.0005, 120.0); |
ryuna | 2:e84bb87eea71 | 404 | //S555.position(0.0); //初期位置にセット |
ryuna | 0:65b9e62cc2b6 | 405 | move(0,0,0,0);//停止 |
ryuna | 0:65b9e62cc2b6 | 406 | |
ryuna | 0:65b9e62cc2b6 | 407 | Kick = 0; |
ryuna | 0:65b9e62cc2b6 | 408 | Sw.mode(PullUp); |
ryuna | 0:65b9e62cc2b6 | 409 | |
ryuna | 0:65b9e62cc2b6 | 410 | |
ryuna | 0:65b9e62cc2b6 | 411 | pid.setInputLimits(MINIMUM,MAXIMUM); //pid sed def |
ryuna | 0:65b9e62cc2b6 | 412 | pid.setOutputLimits(-OUT_LIMIT, OUT_LIMIT); //pid sed def |
ryuna | 0:65b9e62cc2b6 | 413 | pid.setBias(PID_BIAS); //pid sed def |
ryuna | 0:65b9e62cc2b6 | 414 | pid.setMode(AUTO_MODE); //pid sed def |
ryuna | 0:65b9e62cc2b6 | 415 | pid.setSetPoint(REFERENCE); //pid sed def |
ryuna | 2:e84bb87eea71 | 416 | pidupdate.attach(&PidUpdate, PID_CYCLE); |
ryuna | 0:65b9e62cc2b6 | 417 | |
ryuna | 1:f91d53098d57 | 418 | |
ryuna | 0:65b9e62cc2b6 | 419 | |
ryuna | 0:65b9e62cc2b6 | 420 | |
ryuna | 0:65b9e62cc2b6 | 421 | } |
ryuna | 0:65b9e62cc2b6 | 422 | void StartLoop(){ |
ryuna | 0:65b9e62cc2b6 | 423 | |
ryuna | 0:65b9e62cc2b6 | 424 | uint8_t State = 0; |
ryuna | 0:65b9e62cc2b6 | 425 | uint8_t LineData = 0; |
ryuna | 0:65b9e62cc2b6 | 426 | while(1){ |
ryuna | 0:65b9e62cc2b6 | 427 | Led[0] = Led[1] = Led[2] = Led[3] = 1; |
ryuna | 0:65b9e62cc2b6 | 428 | //Lcd.cls(); |
ryuna | 2:e84bb87eea71 | 429 | |
ryuna | 0:65b9e62cc2b6 | 430 | State = SwRead(); |
ryuna | 0:65b9e62cc2b6 | 431 | if(State == 0) continue; |
ryuna | 0:65b9e62cc2b6 | 432 | |
ryuna | 0:65b9e62cc2b6 | 433 | if(State == StartS){ |
ryuna | 0:65b9e62cc2b6 | 434 | /*loop end & start*/ |
ryuna | 0:65b9e62cc2b6 | 435 | return; |
ryuna | 0:65b9e62cc2b6 | 436 | } |
ryuna | 0:65b9e62cc2b6 | 437 | |
ryuna | 0:65b9e62cc2b6 | 438 | if(State == Debug1){ |
ryuna | 0:65b9e62cc2b6 | 439 | while((State == Debug1)){ |
ryuna | 0:65b9e62cc2b6 | 440 | LineData = (~Line+0x00) & 0x0F; |
ryuna | 0:65b9e62cc2b6 | 441 | Lcd.printf("%d\n",LineData); |
ryuna | 0:65b9e62cc2b6 | 442 | |
ryuna | 0:65b9e62cc2b6 | 443 | wait_ms(100); |
ryuna | 0:65b9e62cc2b6 | 444 | State = SwRead(); |
ryuna | 0:65b9e62cc2b6 | 445 | } |
ryuna | 0:65b9e62cc2b6 | 446 | Lcd.cls(); |
ryuna | 0:65b9e62cc2b6 | 447 | continue; |
ryuna | 0:65b9e62cc2b6 | 448 | |
ryuna | 0:65b9e62cc2b6 | 449 | } |
ryuna | 0:65b9e62cc2b6 | 450 | if(State == Debug2){ |
ryuna | 0:65b9e62cc2b6 | 451 | while((State == Debug2)){ |
ryuna | 2:e84bb87eea71 | 452 | Receive(); |
ryuna | 2:e84bb87eea71 | 453 | Lcd.printf("%d\n",IrNum); |
ryuna | 0:65b9e62cc2b6 | 454 | wait_ms(100); |
ryuna | 0:65b9e62cc2b6 | 455 | State = SwRead(); |
ryuna | 0:65b9e62cc2b6 | 456 | } |
ryuna | 0:65b9e62cc2b6 | 457 | Lcd.cls(); |
ryuna | 0:65b9e62cc2b6 | 458 | continue; |
ryuna | 0:65b9e62cc2b6 | 459 | } |
ryuna | 0:65b9e62cc2b6 | 460 | |
ryuna | 0:65b9e62cc2b6 | 461 | if(State == Debug3){ |
ryuna | 0:65b9e62cc2b6 | 462 | while((State == Debug3)){ |
ryuna | 2:e84bb87eea71 | 463 | Lcd.printf("%d\n",Compass); |
ryuna | 0:65b9e62cc2b6 | 464 | wait_ms(100); |
ryuna | 0:65b9e62cc2b6 | 465 | State = SwRead(); |
ryuna | 0:65b9e62cc2b6 | 466 | } |
ryuna | 0:65b9e62cc2b6 | 467 | Lcd.cls(); |
ryuna | 0:65b9e62cc2b6 | 468 | continue; |
ryuna | 0:65b9e62cc2b6 | 469 | } |
ryuna | 0:65b9e62cc2b6 | 470 | |
ryuna | 0:65b9e62cc2b6 | 471 | if(State == Kicker){ |
ryuna | 0:65b9e62cc2b6 | 472 | Led[0] = Led[1] = Led[2] = 0; |
ryuna | 2:e84bb87eea71 | 473 | move(20,20,0,0); |
ryuna | 0:65b9e62cc2b6 | 474 | while((State == Kicker)){ |
ryuna | 0:65b9e62cc2b6 | 475 | wait_ms(100); |
ryuna | 0:65b9e62cc2b6 | 476 | State = SwRead(); |
ryuna | 0:65b9e62cc2b6 | 477 | |
ryuna | 0:65b9e62cc2b6 | 478 | } |
ryuna | 0:65b9e62cc2b6 | 479 | move(0,0,0,0); |
ryuna | 2:e84bb87eea71 | 480 | |
ryuna | 0:65b9e62cc2b6 | 481 | continue; |
ryuna | 0:65b9e62cc2b6 | 482 | } |
ryuna | 0:65b9e62cc2b6 | 483 | } |
ryuna | 0:65b9e62cc2b6 | 484 | |
ryuna | 0:65b9e62cc2b6 | 485 | } |
ryuna | 0:65b9e62cc2b6 | 486 | int main() { |
ryuna | 0:65b9e62cc2b6 | 487 | |
ryuna | 0:65b9e62cc2b6 | 488 | //uint8_t IrNumOld = 0;//過去値 |
ryuna | 0:65b9e62cc2b6 | 489 | /*Line*/ |
ryuna | 0:65b9e62cc2b6 | 490 | uint8_t LineData = 0; |
ryuna | 2:e84bb87eea71 | 491 | uint8_t LinePing = 0; |
ryuna | 0:65b9e62cc2b6 | 492 | |
ryuna | 2:e84bb87eea71 | 493 | |
ryuna | 0:65b9e62cc2b6 | 494 | /*State */ |
ryuna | 0:65b9e62cc2b6 | 495 | uint8_t LineIr = 0; |
ryuna | 2:e84bb87eea71 | 496 | uint8_t IrChange[13] ={0x01,0x01,0x03,0x02,0x02,0x06, |
ryuna | 2:e84bb87eea71 | 497 | 0x04,0x04,0x0B,0x08,0x08,0x09,0x00}; |
ryuna | 2:e84bb87eea71 | 498 | |
ryuna | 0:65b9e62cc2b6 | 499 | /*行動設定*/ |
ryuna | 0:65b9e62cc2b6 | 500 | int Power = 0; |
ryuna | 2:e84bb87eea71 | 501 | int Degree = 0; |
ryuna | 0:65b9e62cc2b6 | 502 | |
ryuna | 0:65b9e62cc2b6 | 503 | /*楽しい変数達*/ |
ryuna | 2:e84bb87eea71 | 504 | int nDegree =0;//基礎角 |
ryuna | 2:e84bb87eea71 | 505 | int addDegree = 0;//追加角 |
ryuna | 0:65b9e62cc2b6 | 506 | |
ryuna | 0:65b9e62cc2b6 | 507 | |
ryuna | 0:65b9e62cc2b6 | 508 | |
ryuna | 0:65b9e62cc2b6 | 509 | /*関数ポインタ*/ |
ryuna | 2:e84bb87eea71 | 510 | |
ryuna | 2:e84bb87eea71 | 511 | |
ryuna | 2:e84bb87eea71 | 512 | //void (*AnotherAction[3])(uint8_t [],double); |
ryuna | 2:e84bb87eea71 | 513 | void (*AnotherAction[3])(); |
ryuna | 0:65b9e62cc2b6 | 514 | AnotherAction[0] = IrFrontAction; |
ryuna | 0:65b9e62cc2b6 | 515 | AnotherAction[1] = IrBackAction; |
ryuna | 0:65b9e62cc2b6 | 516 | AnotherAction[2] = GoHome; |
ryuna | 1:f91d53098d57 | 517 | |
ryuna | 2:e84bb87eea71 | 518 | |
ryuna | 0:65b9e62cc2b6 | 519 | SetUp();/*set up routine*/ |
ryuna | 1:f91d53098d57 | 520 | Mbed.read_data(rx_data, ADDRESS); |
ryuna | 1:f91d53098d57 | 521 | Mbed.start_read(); |
ryuna | 1:f91d53098d57 | 522 | //Mbed.check_rx_wait(); |
ryuna | 0:65b9e62cc2b6 | 523 | StartLoop(); /*loop strat, switch push end*/ |
ryuna | 2:e84bb87eea71 | 524 | Led[0] = Led[1] = Led[2] = Led[3] = 0; |
ryuna | 2:e84bb87eea71 | 525 | wait_ms(100); |
ryuna | 0:65b9e62cc2b6 | 526 | |
ryuna | 1:f91d53098d57 | 527 | while(0){ |
ryuna | 2:e84bb87eea71 | 528 | |
ryuna | 0:65b9e62cc2b6 | 529 | |
ryuna | 2:e84bb87eea71 | 530 | |
ryuna | 2:e84bb87eea71 | 531 | Receive(); |
ryuna | 2:e84bb87eea71 | 532 | //Lcd.printf("%d\n",IrNum); |
ryuna | 0:65b9e62cc2b6 | 533 | /*白線を読んでいないか確認する*/ |
ryuna | 0:65b9e62cc2b6 | 534 | LineData = (~Line+0x00) & 0x0F; |
ryuna | 2:e84bb87eea71 | 535 | |
ryuna | 0:65b9e62cc2b6 | 536 | if(LineData){ |
ryuna | 2:e84bb87eea71 | 537 | LineIr = LineData & IrChange[IrNum]; |
ryuna | 2:e84bb87eea71 | 538 | LinePing = PingChange(LineData); |
ryuna | 2:e84bb87eea71 | 539 | if(LineIr){ |
ryuna | 2:e84bb87eea71 | 540 | move(0,0,0,0); |
ryuna | 2:e84bb87eea71 | 541 | while(LineIr){ |
ryuna | 2:e84bb87eea71 | 542 | Led[1] = Led[2] = Led[3] = 1; |
ryuna | 2:e84bb87eea71 | 543 | Receive(); |
ryuna | 2:e84bb87eea71 | 544 | LineData = (~Line+0x00) & 0x0F; |
ryuna | 2:e84bb87eea71 | 545 | LineIr = LineData & IrChange[IrNum]; |
ryuna | 2:e84bb87eea71 | 546 | wait_ms(10); |
ryuna | 2:e84bb87eea71 | 547 | } |
ryuna | 2:e84bb87eea71 | 548 | }else if(LinePing){ |
ryuna | 2:e84bb87eea71 | 549 | while(LinePing){ |
ryuna | 2:e84bb87eea71 | 550 | Led[1] = Led[2] = Led[3] = 1; |
ryuna | 2:e84bb87eea71 | 551 | Receive(); |
ryuna | 2:e84bb87eea71 | 552 | LineData = (~Line+0x00) & 0x0F; |
ryuna | 2:e84bb87eea71 | 553 | LinePing = PingChange(LineData); |
ryuna | 2:e84bb87eea71 | 554 | wait_ms(10); |
ryuna | 2:e84bb87eea71 | 555 | } |
ryuna | 0:65b9e62cc2b6 | 556 | } |
ryuna | 2:e84bb87eea71 | 557 | |
ryuna | 2:e84bb87eea71 | 558 | |
ryuna | 0:65b9e62cc2b6 | 559 | Led[1] = Led[2] = Led[3] = 0; |
ryuna | 0:65b9e62cc2b6 | 560 | |
ryuna | 0:65b9e62cc2b6 | 561 | } |
ryuna | 0:65b9e62cc2b6 | 562 | |
ryuna | 2:e84bb87eea71 | 563 | Power = 0; |
ryuna | 2:e84bb87eea71 | 564 | Led[0] = 1; |
ryuna | 2:e84bb87eea71 | 565 | Degree = 0; |
ryuna | 2:e84bb87eea71 | 566 | SetC = 0.0; |
ryuna | 2:e84bb87eea71 | 567 | |
ryuna | 0:65b9e62cc2b6 | 568 | |
ryuna | 0:65b9e62cc2b6 | 569 | Led[3] = 1; |
ryuna | 2:e84bb87eea71 | 570 | Receive(); |
ryuna | 2:e84bb87eea71 | 571 | Degree = IrDegree(); |
ryuna | 0:65b9e62cc2b6 | 572 | |
ryuna | 2:e84bb87eea71 | 573 | if((Degree == 0)||(Degree == 180)||(IrNum == 12)){ |
ryuna | 2:e84bb87eea71 | 574 | (AnotherAction[IrNum/6])(); |
ryuna | 0:65b9e62cc2b6 | 575 | continue; |
ryuna | 0:65b9e62cc2b6 | 576 | } |
ryuna | 2:e84bb87eea71 | 577 | |
ryuna | 2:e84bb87eea71 | 578 | /* |
ryuna | 2:e84bb87eea71 | 579 | if(IrNum == 12){ |
ryuna | 2:e84bb87eea71 | 580 | move(0,0,0,0); |
ryuna | 2:e84bb87eea71 | 581 | wait_ms(10); |
ryuna | 2:e84bb87eea71 | 582 | continue; |
ryuna | 2:e84bb87eea71 | 583 | }*/ |
ryuna | 2:e84bb87eea71 | 584 | |
ryuna | 2:e84bb87eea71 | 585 | nDegree = wrapDegree[Degree/15]; |
ryuna | 0:65b9e62cc2b6 | 586 | Power = 20; |
ryuna | 0:65b9e62cc2b6 | 587 | |
ryuna | 0:65b9e62cc2b6 | 588 | |
ryuna | 2:e84bb87eea71 | 589 | Degree = nDegree + addDegree; |
ryuna | 2:e84bb87eea71 | 590 | if((Degree <0)||(Degree>=360)){ |
ryuna | 2:e84bb87eea71 | 591 | Degree = 0; |
ryuna | 2:e84bb87eea71 | 592 | } |
ryuna | 2:e84bb87eea71 | 593 | fool(&Degree,&Power); |
ryuna | 2:e84bb87eea71 | 594 | move(Power,Power,0,Degree); |
ryuna | 2:e84bb87eea71 | 595 | |
ryuna | 2:e84bb87eea71 | 596 | //wait_ms(500); |
ryuna | 2:e84bb87eea71 | 597 | Led[0] =0; |
ryuna | 0:65b9e62cc2b6 | 598 | wait_ms(10); |
ryuna | 0:65b9e62cc2b6 | 599 | |
ryuna | 0:65b9e62cc2b6 | 600 | } |
ryuna | 0:65b9e62cc2b6 | 601 | |
ryuna | 2:e84bb87eea71 | 602 | int i; |
ryuna | 1:f91d53098d57 | 603 | while(1){ |
ryuna | 0:65b9e62cc2b6 | 604 | //デモプログラム |
ryuna | 2:e84bb87eea71 | 605 | Receive(); |
ryuna | 2:e84bb87eea71 | 606 | pc.printf("%d\t %d\t %d\t %d\t %d\t %d\t\n",rx_data[3],rx_data[4],rx_data[5],rx_data[6],rx_data[7],rx_data[8]); |
ryuna | 2:e84bb87eea71 | 607 | |
ryuna | 2:e84bb87eea71 | 608 | wait(0.1); |
ryuna | 0:65b9e62cc2b6 | 609 | } |
ryuna | 0:65b9e62cc2b6 | 610 | |
ryuna | 1:f91d53098d57 | 611 | |
ryuna | 0:65b9e62cc2b6 | 612 | |
ryuna | 0:65b9e62cc2b6 | 613 | |
ryuna | 0:65b9e62cc2b6 | 614 | } |