version 3 通信方式,マイコン等に変更あり
Dependencies: AQM0802A PID Servo mbed
main.cpp@7:01bb0b0a98f1, 2015-03-14 (annotated)
- Committer:
- ryuna
- Date:
- Sat Mar 14 00:47:16 2015 +0000
- Revision:
- 7:01bb0b0a98f1
- Parent:
- 5:09afcbe0c18f
??
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 | 4:2857f273a7f4 | 42 | |
ryuna | 5:09afcbe0c18f | 43 | |
ryuna | 3:4a39486ff238 | 44 | #include "Servo.h" |
ryuna | 0:65b9e62cc2b6 | 45 | #include "PID.h" |
ryuna | 0:65b9e62cc2b6 | 46 | #include "AQM0802A.h" |
ryuna | 0:65b9e62cc2b6 | 47 | #include "main.h" |
ryuna | 0:65b9e62cc2b6 | 48 | |
ryuna | 0:65b9e62cc2b6 | 49 | |
ryuna | 5:09afcbe0c18f | 50 | void ServoWait(){ |
ryuna | 5:09afcbe0c18f | 51 | WaitFlag = 0; |
ryuna | 5:09afcbe0c18f | 52 | } |
ryuna | 3:4a39486ff238 | 53 | |
ryuna | 0:65b9e62cc2b6 | 54 | |
ryuna | 2:e84bb87eea71 | 55 | void move(int vr,int vl, double vs ,int Degree){ |
ryuna | 0:65b9e62cc2b6 | 56 | double pwm[4] = {0}; |
ryuna | 0:65b9e62cc2b6 | 57 | uint8_t i = 0; |
ryuna | 5:09afcbe0c18f | 58 | static int last_deg; |
ryuna | 5:09afcbe0c18f | 59 | double vias=30.0; |
ryuna | 5:09afcbe0c18f | 60 | double dif; |
ryuna | 5:09afcbe0c18f | 61 | if(abs(last_deg)<23){ |
ryuna | 5:09afcbe0c18f | 62 | |
ryuna | 5:09afcbe0c18f | 63 | dif=(((Compass / 10) + 540 - CompassDef) % 360) - REFERENCE; |
ryuna | 5:09afcbe0c18f | 64 | if(abs(dif)<vias){ |
ryuna | 5:09afcbe0c18f | 65 | |
ryuna | 5:09afcbe0c18f | 66 | pwm[0] = vr; |
ryuna | 5:09afcbe0c18f | 67 | pwm[1] = 0; |
ryuna | 5:09afcbe0c18f | 68 | pwm[2] = 0; |
ryuna | 5:09afcbe0c18f | 69 | pwm[3] = vl; |
ryuna | 5:09afcbe0c18f | 70 | } |
ryuna | 5:09afcbe0c18f | 71 | else{ |
ryuna | 5:09afcbe0c18f | 72 | |
ryuna | 5:09afcbe0c18f | 73 | if(dif<0){ |
ryuna | 5:09afcbe0c18f | 74 | //vs = vs - (20-vias); |
ryuna | 5:09afcbe0c18f | 75 | vs = -(20+(abs(dif))*0.1); |
ryuna | 5:09afcbe0c18f | 76 | if( abs(dif) >= 100) vs = -(20+(100)*0.1); |
ryuna | 5:09afcbe0c18f | 77 | } |
ryuna | 5:09afcbe0c18f | 78 | else{ |
ryuna | 5:09afcbe0c18f | 79 | //vs = vs + (20-vias); |
ryuna | 5:09afcbe0c18f | 80 | vs = (20+(abs(dif))*0.1); |
ryuna | 5:09afcbe0c18f | 81 | if( abs(dif) >= 100) vs = (20+(100)*0.1); |
ryuna | 5:09afcbe0c18f | 82 | } |
ryuna | 5:09afcbe0c18f | 83 | |
ryuna | 5:09afcbe0c18f | 84 | pwm[0] = vs; |
ryuna | 5:09afcbe0c18f | 85 | pwm[1] = 0; |
ryuna | 5:09afcbe0c18f | 86 | pwm[2] = 0; |
ryuna | 5:09afcbe0c18f | 87 | pwm[3] = -vs; |
ryuna | 5:09afcbe0c18f | 88 | } |
ryuna | 5:09afcbe0c18f | 89 | }else{ |
ryuna | 5:09afcbe0c18f | 90 | pwm[0] = vr; |
ryuna | 4:2857f273a7f4 | 91 | pwm[1] = 0; |
ryuna | 4:2857f273a7f4 | 92 | pwm[2] = 0; |
ryuna | 5:09afcbe0c18f | 93 | pwm[3] = vl; |
ryuna | 4:2857f273a7f4 | 94 | } |
ryuna | 5:09afcbe0c18f | 95 | |
ryuna | 5:09afcbe0c18f | 96 | |
ryuna | 7:01bb0b0a98f1 | 97 | if((!WaitFlag)&&(!(last_deg == Degree ))){ |
ryuna | 5:09afcbe0c18f | 98 | SetDegree = Degree * 11/9; |
ryuna | 5:09afcbe0c18f | 99 | if(SetDegree > 110){ |
ryuna | 5:09afcbe0c18f | 100 | SetDegree = 110; |
ryuna | 5:09afcbe0c18f | 101 | }else if(SetDegree < -110){ |
ryuna | 5:09afcbe0c18f | 102 | SetDegree = -110; |
ryuna | 5:09afcbe0c18f | 103 | } |
ryuna | 5:09afcbe0c18f | 104 | S555.position(SetDegree); |
ryuna | 5:09afcbe0c18f | 105 | WaitFlag = 1; |
ryuna | 5:09afcbe0c18f | 106 | STimer.attach(&ServoWait,WAIT_TIME); |
ryuna | 5:09afcbe0c18f | 107 | |
ryuna | 5:09afcbe0c18f | 108 | last_deg = Degree; |
ryuna | 5:09afcbe0c18f | 109 | } |
ryuna | 5:09afcbe0c18f | 110 | |
ryuna | 5:09afcbe0c18f | 111 | |
ryuna | 0:65b9e62cc2b6 | 112 | for(i = 0; i < 4; i++){ |
ryuna | 0:65b9e62cc2b6 | 113 | if(pwm[i] > 100){ |
ryuna | 0:65b9e62cc2b6 | 114 | pwm[i] = 100; |
ryuna | 0:65b9e62cc2b6 | 115 | }else if(pwm[i] < -100){ |
ryuna | 0:65b9e62cc2b6 | 116 | pwm[i] = -100; |
ryuna | 0:65b9e62cc2b6 | 117 | } |
ryuna | 0:65b9e62cc2b6 | 118 | speed[i] = pwm[i]; |
ryuna | 0:65b9e62cc2b6 | 119 | } |
ryuna | 5:09afcbe0c18f | 120 | |
ryuna | 5:09afcbe0c18f | 121 | |
ryuna | 0:65b9e62cc2b6 | 122 | wait_ms(10); |
ryuna | 0:65b9e62cc2b6 | 123 | } |
ryuna | 2:e84bb87eea71 | 124 | |
ryuna | 2:e84bb87eea71 | 125 | uint8_t PingChange(uint8_t LineData){ |
ryuna | 2:e84bb87eea71 | 126 | static uint8_t Last_Line; |
ryuna | 2:e84bb87eea71 | 127 | static uint8_t Last_Ping; |
ryuna | 2:e84bb87eea71 | 128 | uint8_t LinePing = 0; |
ryuna | 2:e84bb87eea71 | 129 | |
ryuna | 2:e84bb87eea71 | 130 | if(!LineData){ |
ryuna | 2:e84bb87eea71 | 131 | return 0; |
ryuna | 2:e84bb87eea71 | 132 | } |
ryuna | 2:e84bb87eea71 | 133 | |
ryuna | 5:09afcbe0c18f | 134 | if(PingData[0] <50) LinePing = LinePing + 1; |
ryuna | 5:09afcbe0c18f | 135 | if(PingData[1] <50) LinePing = LinePing + 2; |
ryuna | 5:09afcbe0c18f | 136 | if(PingData[2] <50) LinePing = LinePing + 4; |
ryuna | 5:09afcbe0c18f | 137 | if(PingData[3] <50) LinePing = LinePing + 8; |
ryuna | 2:e84bb87eea71 | 138 | |
ryuna | 2:e84bb87eea71 | 139 | |
ryuna | 2:e84bb87eea71 | 140 | if(LinePing&0x01){ |
ryuna | 2:e84bb87eea71 | 141 | if((LineData&0x01) ||(Last_Line&0x01)||(Last_Ping&0x01)){ |
ryuna | 2:e84bb87eea71 | 142 | Last_Ping = LinePing; |
ryuna | 2:e84bb87eea71 | 143 | Last_Line = LineData; |
ryuna | 2:e84bb87eea71 | 144 | return 1; |
ryuna | 2:e84bb87eea71 | 145 | } |
ryuna | 2:e84bb87eea71 | 146 | } |
ryuna | 2:e84bb87eea71 | 147 | if(LinePing&0x02){ |
ryuna | 2:e84bb87eea71 | 148 | if((LineData&0x02) ||(Last_Line&0x02)||(Last_Ping&0x02)){ |
ryuna | 2:e84bb87eea71 | 149 | Last_Ping = LinePing; |
ryuna | 2:e84bb87eea71 | 150 | Last_Line = LineData; |
ryuna | 2:e84bb87eea71 | 151 | return 2; |
ryuna | 2:e84bb87eea71 | 152 | } |
ryuna | 2:e84bb87eea71 | 153 | } |
ryuna | 2:e84bb87eea71 | 154 | if(LinePing&0x04){ |
ryuna | 2:e84bb87eea71 | 155 | if((LineData&0x04) ||(Last_Line&0x04)||(Last_Ping&0x04)){ |
ryuna | 2:e84bb87eea71 | 156 | Last_Ping = LinePing; |
ryuna | 2:e84bb87eea71 | 157 | Last_Line = LineData; |
ryuna | 2:e84bb87eea71 | 158 | return 4; |
ryuna | 2:e84bb87eea71 | 159 | } |
ryuna | 2:e84bb87eea71 | 160 | } |
ryuna | 2:e84bb87eea71 | 161 | if(LinePing&0x08){ |
ryuna | 2:e84bb87eea71 | 162 | if((LineData&0x08) ||(Last_Line&0x08)||(Last_Ping&0x08)){ |
ryuna | 2:e84bb87eea71 | 163 | Last_Ping = LinePing; |
ryuna | 2:e84bb87eea71 | 164 | Last_Line = LineData; |
ryuna | 2:e84bb87eea71 | 165 | return 8; |
ryuna | 2:e84bb87eea71 | 166 | } |
ryuna | 2:e84bb87eea71 | 167 | } |
ryuna | 2:e84bb87eea71 | 168 | Last_Ping = 0; |
ryuna | 2:e84bb87eea71 | 169 | Last_Line = 0; |
ryuna | 2:e84bb87eea71 | 170 | return 0; |
ryuna | 2:e84bb87eea71 | 171 | |
ryuna | 2:e84bb87eea71 | 172 | } |
ryuna | 2:e84bb87eea71 | 173 | |
ryuna | 2:e84bb87eea71 | 174 | void fool (int *Degree, int *Power){ |
ryuna | 2:e84bb87eea71 | 175 | static int Last_Degree = 0; |
ryuna | 0:65b9e62cc2b6 | 176 | static int Last_Vector = 1; |
ryuna | 2:e84bb87eea71 | 177 | int degree = *Degree; |
ryuna | 0:65b9e62cc2b6 | 178 | int Temp; |
ryuna | 2:e84bb87eea71 | 179 | |
ryuna | 2:e84bb87eea71 | 180 | |
ryuna | 2:e84bb87eea71 | 181 | if((*Degree <0)||(*Degree >=360)){ |
ryuna | 2:e84bb87eea71 | 182 | *Degree = 0; |
ryuna | 2:e84bb87eea71 | 183 | Last_Degree = 0; |
ryuna | 2:e84bb87eea71 | 184 | Last_Vector = 1; |
ryuna | 2:e84bb87eea71 | 185 | return ; |
ryuna | 2:e84bb87eea71 | 186 | } |
ryuna | 2:e84bb87eea71 | 187 | |
ryuna | 2:e84bb87eea71 | 188 | Temp = Last_Degree % 180; |
ryuna | 5:09afcbe0c18f | 189 | if((Temp>70) &&(Temp<110)){ |
ryuna | 2:e84bb87eea71 | 190 | Temp = *Degree % 180; |
ryuna | 5:09afcbe0c18f | 191 | if((Temp>70) &&(Temp<110)){ |
ryuna | 2:e84bb87eea71 | 192 | Temp = abs(*Degree - Last_Degree); |
ryuna | 0:65b9e62cc2b6 | 193 | if(Temp>160){ |
ryuna | 0:65b9e62cc2b6 | 194 | Last_Vector = -1 * Last_Vector;//正転逆転切り替え |
ryuna | 2:e84bb87eea71 | 195 | if(*Degree/180){ |
ryuna | 2:e84bb87eea71 | 196 | *Degree = Angle[Last_Degree%180] -(Last_Degree - *Degree%180); |
ryuna | 0:65b9e62cc2b6 | 197 | *Power = *Power * Last_Vector; |
ryuna | 0:65b9e62cc2b6 | 198 | }else{ |
ryuna | 2:e84bb87eea71 | 199 | *Degree = Angle[Last_Degree%180] -(Last_Degree%180 - *Degree); |
ryuna | 0:65b9e62cc2b6 | 200 | *Power = *Power * Last_Vector; |
ryuna | 0:65b9e62cc2b6 | 201 | } |
ryuna | 2:e84bb87eea71 | 202 | Last_Degree = degree; |
ryuna | 2:e84bb87eea71 | 203 | if((*Degree <= -120)||(*Degree >=120)){ |
ryuna | 2:e84bb87eea71 | 204 | *Degree = 0; |
ryuna | 2:e84bb87eea71 | 205 | } |
ryuna | 0:65b9e62cc2b6 | 206 | return; |
ryuna | 0:65b9e62cc2b6 | 207 | }else if((Last_Vector+2) == 1){ |
ryuna | 0:65b9e62cc2b6 | 208 | /*逆転のまま角度拡張*/ |
ryuna | 2:e84bb87eea71 | 209 | if(*Degree/180){ |
ryuna | 2:e84bb87eea71 | 210 | *Degree = -360 + *Degree ; |
ryuna | 2:e84bb87eea71 | 211 | |
ryuna | 0:65b9e62cc2b6 | 212 | } |
ryuna | 2:e84bb87eea71 | 213 | *Power = *Power * Last_Vector; |
ryuna | 2:e84bb87eea71 | 214 | Last_Degree = degree; |
ryuna | 2:e84bb87eea71 | 215 | if((*Degree <= -120)||(*Degree >=120)){ |
ryuna | 2:e84bb87eea71 | 216 | *Degree = 0; |
ryuna | 2:e84bb87eea71 | 217 | |
ryuna | 2:e84bb87eea71 | 218 | } |
ryuna | 0:65b9e62cc2b6 | 219 | return; |
ryuna | 0:65b9e62cc2b6 | 220 | |
ryuna | 0:65b9e62cc2b6 | 221 | }else if((Last_Vector+2) == 3){ |
ryuna | 0:65b9e62cc2b6 | 222 | /*正転のまま*/ |
ryuna | 2:e84bb87eea71 | 223 | if(*Degree/180){ |
ryuna | 2:e84bb87eea71 | 224 | *Degree = -360 + *Degree ; |
ryuna | 0:65b9e62cc2b6 | 225 | } |
ryuna | 2:e84bb87eea71 | 226 | *Power = *Power * Last_Vector; |
ryuna | 2:e84bb87eea71 | 227 | Last_Degree = degree; |
ryuna | 2:e84bb87eea71 | 228 | if((*Degree <= -120)||(*Degree >=120)){ |
ryuna | 2:e84bb87eea71 | 229 | *Degree = 0; |
ryuna | 2:e84bb87eea71 | 230 | } |
ryuna | 0:65b9e62cc2b6 | 231 | return; |
ryuna | 0:65b9e62cc2b6 | 232 | } |
ryuna | 0:65b9e62cc2b6 | 233 | } |
ryuna | 0:65b9e62cc2b6 | 234 | } |
ryuna | 0:65b9e62cc2b6 | 235 | /*通常動作*/ |
ryuna | 2:e84bb87eea71 | 236 | if(*Degree == 0){ |
ryuna | 2:e84bb87eea71 | 237 | Last_Vector = DegreeToVector[0]; |
ryuna | 2:e84bb87eea71 | 238 | *Degree = Angle[*Degree%180]; |
ryuna | 2:e84bb87eea71 | 239 | *Power = *Power * Last_Vector; |
ryuna | 2:e84bb87eea71 | 240 | Last_Degree = degree; |
ryuna | 2:e84bb87eea71 | 241 | return ; |
ryuna | 2:e84bb87eea71 | 242 | } |
ryuna | 5:09afcbe0c18f | 243 | if(*Degree == 270){ |
ryuna | 5:09afcbe0c18f | 244 | Last_Vector = DegreeToVector[(*Degree)/90]; |
ryuna | 5:09afcbe0c18f | 245 | *Degree = -90; |
ryuna | 5:09afcbe0c18f | 246 | *Power = *Power * Last_Vector; |
ryuna | 5:09afcbe0c18f | 247 | Last_Degree = degree; |
ryuna | 5:09afcbe0c18f | 248 | return; |
ryuna | 5:09afcbe0c18f | 249 | } |
ryuna | 2:e84bb87eea71 | 250 | Last_Vector = DegreeToVector[(*Degree-1)/90]; |
ryuna | 2:e84bb87eea71 | 251 | *Degree = Angle[*Degree%180]; |
ryuna | 0:65b9e62cc2b6 | 252 | *Power = *Power * Last_Vector; |
ryuna | 2:e84bb87eea71 | 253 | Last_Degree = degree; |
ryuna | 2:e84bb87eea71 | 254 | if((*Degree <= -120)||(*Degree >=120)){ |
ryuna | 2:e84bb87eea71 | 255 | *Degree = 0; |
ryuna | 2:e84bb87eea71 | 256 | } |
ryuna | 0:65b9e62cc2b6 | 257 | |
ryuna | 0:65b9e62cc2b6 | 258 | } |
ryuna | 2:e84bb87eea71 | 259 | int IrDegree(){ |
ryuna | 0:65b9e62cc2b6 | 260 | /*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 | 261 | |
ryuna | 2:e84bb87eea71 | 262 | uint8_t IrF ,IrS; |
ryuna | 2:e84bb87eea71 | 263 | unsigned int irdegree = 0; |
ryuna | 2:e84bb87eea71 | 264 | if(IrNum >=12){ |
ryuna | 2:e84bb87eea71 | 265 | return 0; |
ryuna | 2:e84bb87eea71 | 266 | } |
ryuna | 2:e84bb87eea71 | 267 | IrF = IrData[0]/12; |
ryuna | 2:e84bb87eea71 | 268 | IrS = IrData[0]%12; |
ryuna | 2:e84bb87eea71 | 269 | |
ryuna | 2:e84bb87eea71 | 270 | if(IrF == 0 ){ |
ryuna | 2:e84bb87eea71 | 271 | if(IrS == 11){ |
ryuna | 2:e84bb87eea71 | 272 | irdegree = 15; |
ryuna | 0:65b9e62cc2b6 | 273 | |
ryuna | 2:e84bb87eea71 | 274 | }else if(IrS == 1){ |
ryuna | 2:e84bb87eea71 | 275 | irdegree = 345; |
ryuna | 2:e84bb87eea71 | 276 | } |
ryuna | 2:e84bb87eea71 | 277 | return irdegree; |
ryuna | 2:e84bb87eea71 | 278 | } |
ryuna | 2:e84bb87eea71 | 279 | irdegree = 360 - IrF*30; |
ryuna | 2:e84bb87eea71 | 280 | if(IrS&&(abs(IrF-IrS) == 1)){ |
ryuna | 2:e84bb87eea71 | 281 | irdegree = irdegree - (IrF - IrS)*15; |
ryuna | 0:65b9e62cc2b6 | 282 | |
ryuna | 0:65b9e62cc2b6 | 283 | } |
ryuna | 2:e84bb87eea71 | 284 | if(irdegree>=360){ |
ryuna | 2:e84bb87eea71 | 285 | return 0; |
ryuna | 2:e84bb87eea71 | 286 | } |
ryuna | 2:e84bb87eea71 | 287 | |
ryuna | 2:e84bb87eea71 | 288 | return irdegree; |
ryuna | 0:65b9e62cc2b6 | 289 | } |
ryuna | 0:65b9e62cc2b6 | 290 | |
ryuna | 0:65b9e62cc2b6 | 291 | |
ryuna | 2:e84bb87eea71 | 292 | void IrFrontAction()//ball 12 or 0 o-clock |
ryuna | 0:65b9e62cc2b6 | 293 | { |
ryuna | 3:4a39486ff238 | 294 | if(IrData[1]>70){ |
ryuna | 2:e84bb87eea71 | 295 | move(30,30,CompassPID,0); |
ryuna | 2:e84bb87eea71 | 296 | return; |
ryuna | 2:e84bb87eea71 | 297 | } |
ryuna | 3:4a39486ff238 | 298 | if(IrData[1]>60){ |
ryuna | 5:09afcbe0c18f | 299 | move(20,20,CompassPID,0); |
ryuna | 2:e84bb87eea71 | 300 | return; |
ryuna | 2:e84bb87eea71 | 301 | } |
ryuna | 2:e84bb87eea71 | 302 | /*IrData[1]>500*/ |
ryuna | 5:09afcbe0c18f | 303 | move(10,10,0,0); |
ryuna | 2:e84bb87eea71 | 304 | if(PingData[0]<50){ |
ryuna | 2:e84bb87eea71 | 305 | if((PingData[1]<60)&&(PingData[1]>40)){ |
ryuna | 2:e84bb87eea71 | 306 | /*右側に居る*/ |
ryuna | 5:09afcbe0c18f | 307 | move(40,25,0,10); |
ryuna | 5:09afcbe0c18f | 308 | Kick = 1; |
ryuna | 5:09afcbe0c18f | 309 | wait_ms(200); |
ryuna | 2:e84bb87eea71 | 310 | move(30,30,0,0); |
ryuna | 5:09afcbe0c18f | 311 | Kick = 0; |
ryuna | 2:e84bb87eea71 | 312 | return; |
ryuna | 2:e84bb87eea71 | 313 | } |
ryuna | 2:e84bb87eea71 | 314 | if((PingData[1]<60)&&(PingData[1]>40)){ |
ryuna | 2:e84bb87eea71 | 315 | /*左側に居る*/ |
ryuna | 5:09afcbe0c18f | 316 | move(25,40,0,-10); |
ryuna | 5:09afcbe0c18f | 317 | Kick = 1; |
ryuna | 5:09afcbe0c18f | 318 | wait_ms(200); |
ryuna | 2:e84bb87eea71 | 319 | move(30,30,0,0); |
ryuna | 5:09afcbe0c18f | 320 | Kick = 0; |
ryuna | 2:e84bb87eea71 | 321 | return; |
ryuna | 2:e84bb87eea71 | 322 | } |
ryuna | 2:e84bb87eea71 | 323 | /*それ以外*/ |
ryuna | 5:09afcbe0c18f | 324 | |
ryuna | 4:2857f273a7f4 | 325 | //Receive(); |
ryuna | 2:e84bb87eea71 | 326 | if(!(IrNum == 0)) return; |
ryuna | 2:e84bb87eea71 | 327 | move(40,40,CompassPID,0); |
ryuna | 5:09afcbe0c18f | 328 | Kick = 1; |
ryuna | 5:09afcbe0c18f | 329 | wait_ms(100); |
ryuna | 5:09afcbe0c18f | 330 | Kick = 0; |
ryuna | 2:e84bb87eea71 | 331 | return ; |
ryuna | 2:e84bb87eea71 | 332 | } |
ryuna | 2:e84bb87eea71 | 333 | move(20,20,CompassPID,0); |
ryuna | 2:e84bb87eea71 | 334 | |
ryuna | 2:e84bb87eea71 | 335 | |
ryuna | 0:65b9e62cc2b6 | 336 | |
ryuna | 0:65b9e62cc2b6 | 337 | } |
ryuna | 0:65b9e62cc2b6 | 338 | |
ryuna | 2:e84bb87eea71 | 339 | void IrBackAction()//ball found six o-clock |
ryuna | 0:65b9e62cc2b6 | 340 | { |
ryuna | 0:65b9e62cc2b6 | 341 | /*** |
ryuna | 0:65b9e62cc2b6 | 342 | * 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 | 343 | * |
ryuna | 0:65b9e62cc2b6 | 344 | **/ |
ryuna | 2:e84bb87eea71 | 345 | if(PingData[1]>PingData[3]){ |
ryuna | 0:65b9e62cc2b6 | 346 | /*右が大きい*/ |
ryuna | 3:4a39486ff238 | 347 | if(IrData[1]>70){ |
ryuna | 2:e84bb87eea71 | 348 | move(-20,-20,CompassPID,45); |
ryuna | 2:e84bb87eea71 | 349 | return; |
ryuna | 2:e84bb87eea71 | 350 | } |
ryuna | 3:4a39486ff238 | 351 | if(IrData[1]>60){ |
ryuna | 2:e84bb87eea71 | 352 | move(-20,-20,CompassPID,60); |
ryuna | 2:e84bb87eea71 | 353 | return; |
ryuna | 2:e84bb87eea71 | 354 | } |
ryuna | 3:4a39486ff238 | 355 | move(-20,-20,CompassPID,80); |
ryuna | 0:65b9e62cc2b6 | 356 | return; |
ryuna | 0:65b9e62cc2b6 | 357 | } |
ryuna | 0:65b9e62cc2b6 | 358 | /*左が大きい*/ |
ryuna | 0:65b9e62cc2b6 | 359 | |
ryuna | 3:4a39486ff238 | 360 | if(IrData[1]>70){ |
ryuna | 2:e84bb87eea71 | 361 | move(-20,-20,CompassPID,-45); |
ryuna | 2:e84bb87eea71 | 362 | return; |
ryuna | 0:65b9e62cc2b6 | 363 | } |
ryuna | 3:4a39486ff238 | 364 | if(IrData[1]>60){ |
ryuna | 2:e84bb87eea71 | 365 | move(-20,-20,CompassPID,-60); |
ryuna | 2:e84bb87eea71 | 366 | return; |
ryuna | 2:e84bb87eea71 | 367 | } |
ryuna | 3:4a39486ff238 | 368 | move(-20,-20,CompassPID,-80); |
ryuna | 2:e84bb87eea71 | 369 | return; |
ryuna | 0:65b9e62cc2b6 | 370 | |
ryuna | 2:e84bb87eea71 | 371 | } |
ryuna | 7:01bb0b0a98f1 | 372 | /* |
ryuna | 2:e84bb87eea71 | 373 | void GoHome()//Ball is not found. |
ryuna | 2:e84bb87eea71 | 374 | { |
ryuna | 5:09afcbe0c18f | 375 | int pingRl =0; |
ryuna | 5:09afcbe0c18f | 376 | int PowLev; |
ryuna | 5:09afcbe0c18f | 377 | if(PingData[2] >=50){//後ろからの距離60cm |
ryuna | 5:09afcbe0c18f | 378 | move(-25,-25,CompassPID,0); |
ryuna | 5:09afcbe0c18f | 379 | return ; |
ryuna | 5:09afcbe0c18f | 380 | } |
ryuna | 5:09afcbe0c18f | 381 | if(PingData[2] <= 30){ |
ryuna | 5:09afcbe0c18f | 382 | move(17,17,0,0); |
ryuna | 0:65b9e62cc2b6 | 383 | return ; |
ryuna | 5:09afcbe0c18f | 384 | } |
ryuna | 5:09afcbe0c18f | 385 | pingRl = PingData[1]+PingData[3]; |
ryuna | 5:09afcbe0c18f | 386 | if(pingRl <100){ |
ryuna | 5:09afcbe0c18f | 387 | move(0,0,CompassPID,0);//stop |
ryuna | 5:09afcbe0c18f | 388 | return; |
ryuna | 5:09afcbe0c18f | 389 | } |
ryuna | 5:09afcbe0c18f | 390 | if(PingData[1] < 52){ |
ryuna | 7:01bb0b0a98f1 | 391 | PowLev = (52 - PingData[1])*1.35; |
ryuna | 7:01bb0b0a98f1 | 392 | move(PowLev,PowLev,0,45); |
ryuna | 5:09afcbe0c18f | 393 | return ; |
ryuna | 5:09afcbe0c18f | 394 | }else if (PingData[3] < 52){ |
ryuna | 5:09afcbe0c18f | 395 | PowLev = (52 - PingData[3])*1.35; |
ryuna | 7:01bb0b0a98f1 | 396 | move(PowLev,PowLev,0,-45); |
ryuna | 5:09afcbe0c18f | 397 | return ; |
ryuna | 5:09afcbe0c18f | 398 | } |
ryuna | 5:09afcbe0c18f | 399 | |
ryuna | 5:09afcbe0c18f | 400 | move(0,0,0,0);//stop |
ryuna | 2:e84bb87eea71 | 401 | |
ryuna | 7:01bb0b0a98f1 | 402 | }*/ |
ryuna | 7:01bb0b0a98f1 | 403 | void GoHome()//Ball is not found. |
ryuna | 7:01bb0b0a98f1 | 404 | { |
ryuna | 7:01bb0b0a98f1 | 405 | int pingRl =0; |
ryuna | 7:01bb0b0a98f1 | 406 | int PowLev; |
ryuna | 7:01bb0b0a98f1 | 407 | if(PingData[2] >=70){//後ろからの距離60cm |
ryuna | 7:01bb0b0a98f1 | 408 | move(-25,-25,0,0); |
ryuna | 7:01bb0b0a98f1 | 409 | return ; |
ryuna | 7:01bb0b0a98f1 | 410 | } |
ryuna | 7:01bb0b0a98f1 | 411 | |
ryuna | 7:01bb0b0a98f1 | 412 | |
ryuna | 7:01bb0b0a98f1 | 413 | pingRl = PingData[1]+PingData[3]; |
ryuna | 7:01bb0b0a98f1 | 414 | if(pingRl <120){ |
ryuna | 7:01bb0b0a98f1 | 415 | if(PingData[2]<30){ |
ryuna | 7:01bb0b0a98f1 | 416 | if(PingData[1]<30){ |
ryuna | 7:01bb0b0a98f1 | 417 | move(15,15,0,30); |
ryuna | 7:01bb0b0a98f1 | 418 | }else if(PingData[3]<30){ |
ryuna | 7:01bb0b0a98f1 | 419 | move(15,15,0,-30); |
ryuna | 7:01bb0b0a98f1 | 420 | } |
ryuna | 7:01bb0b0a98f1 | 421 | } |
ryuna | 7:01bb0b0a98f1 | 422 | move(0,0,0,0);//stop |
ryuna | 7:01bb0b0a98f1 | 423 | return; |
ryuna | 7:01bb0b0a98f1 | 424 | } |
ryuna | 7:01bb0b0a98f1 | 425 | if(PingData[1] < 65){ |
ryuna | 7:01bb0b0a98f1 | 426 | PowLev = (52 - PingData[1])*1.35; |
ryuna | 7:01bb0b0a98f1 | 427 | move(-PowLev,-PowLev,0,-20); |
ryuna | 7:01bb0b0a98f1 | 428 | return ; |
ryuna | 7:01bb0b0a98f1 | 429 | }else if (PingData[3] < 65){ |
ryuna | 7:01bb0b0a98f1 | 430 | PowLev = (52 - PingData[3])*1.35; |
ryuna | 7:01bb0b0a98f1 | 431 | move(-PowLev,-PowLev,0,20); |
ryuna | 7:01bb0b0a98f1 | 432 | return ; |
ryuna | 7:01bb0b0a98f1 | 433 | } |
ryuna | 7:01bb0b0a98f1 | 434 | if(PingData[2]<40){ |
ryuna | 7:01bb0b0a98f1 | 435 | move(0,0,0,0);//stop |
ryuna | 7:01bb0b0a98f1 | 436 | }else{ |
ryuna | 7:01bb0b0a98f1 | 437 | move(-15,-15,0,0);//stop |
ryuna | 7:01bb0b0a98f1 | 438 | |
ryuna | 7:01bb0b0a98f1 | 439 | } |
ryuna | 7:01bb0b0a98f1 | 440 | |
ryuna | 7:01bb0b0a98f1 | 441 | |
ryuna | 7:01bb0b0a98f1 | 442 | |
ryuna | 0:65b9e62cc2b6 | 443 | } |
ryuna | 0:65b9e62cc2b6 | 444 | |
ryuna | 0:65b9e62cc2b6 | 445 | |
ryuna | 7:01bb0b0a98f1 | 446 | |
ryuna | 0:65b9e62cc2b6 | 447 | void PidUpdate() |
ryuna | 0:65b9e62cc2b6 | 448 | { |
ryuna | 5:09afcbe0c18f | 449 | |
ryuna | 5:09afcbe0c18f | 450 | pid.setSetPoint((int)((REFERENCE + SetC) / 1.0)); |
ryuna | 5:09afcbe0c18f | 451 | InputPID = ((Compass/10) + 540 - CompassDef) % 360; |
ryuna | 5:09afcbe0c18f | 452 | |
ryuna | 5:09afcbe0c18f | 453 | pid.setProcessValue(InputPID); |
ryuna | 5:09afcbe0c18f | 454 | CompassPID = (pid.compute()); |
ryuna | 5:09afcbe0c18f | 455 | /* |
ryuna | 2:e84bb87eea71 | 456 | pid.setSetPoint((int)((REFERENCE + SetC) / 1.0)); |
ryuna | 2:e84bb87eea71 | 457 | InputPID = Compass; |
ryuna | 2:e84bb87eea71 | 458 | |
ryuna | 2:e84bb87eea71 | 459 | pid.setProcessValue(InputPID); |
ryuna | 4:2857f273a7f4 | 460 | CompassPID = (pid.compute()); |
ryuna | 5:09afcbe0c18f | 461 | */ |
ryuna | 0:65b9e62cc2b6 | 462 | } |
ryuna | 0:65b9e62cc2b6 | 463 | |
ryuna | 0:65b9e62cc2b6 | 464 | |
ryuna | 0:65b9e62cc2b6 | 465 | |
ryuna | 0:65b9e62cc2b6 | 466 | |
ryuna | 0:65b9e62cc2b6 | 467 | |
ryuna | 0:65b9e62cc2b6 | 468 | |
ryuna | 0:65b9e62cc2b6 | 469 | |
ryuna | 0:65b9e62cc2b6 | 470 | uint8_t SwRead(){ |
ryuna | 0:65b9e62cc2b6 | 471 | /****** |
ryuna | 0:65b9e62cc2b6 | 472 | *retrun : sw_state |
ryuna | 0:65b9e62cc2b6 | 473 | *StartS = 0x01; |
ryuna | 0:65b9e62cc2b6 | 474 | *Debug2 = 0x02; |
ryuna | 0:65b9e62cc2b6 | 475 | *Debug1 = 0x04; |
ryuna | 0:65b9e62cc2b6 | 476 | *Debug3 = 0x06; |
ryuna | 0:65b9e62cc2b6 | 477 | *Kicker = 0x08; |
ryuna | 0:65b9e62cc2b6 | 478 | *Calibration = 0x10; |
ryuna | 0:65b9e62cc2b6 | 479 | |
ryuna | 0:65b9e62cc2b6 | 480 | * |
ryuna | 0:65b9e62cc2b6 | 481 | *****/ |
ryuna | 0:65b9e62cc2b6 | 482 | uint8_t i,temp,temp2; |
ryuna | 0:65b9e62cc2b6 | 483 | temp = ~Sw - 224; |
ryuna | 0:65b9e62cc2b6 | 484 | if(!(temp == Kicker |
ryuna | 0:65b9e62cc2b6 | 485 | ||temp == Debug1 |
ryuna | 0:65b9e62cc2b6 | 486 | ||temp == Debug2 |
ryuna | 0:65b9e62cc2b6 | 487 | ||temp == Debug3 |
ryuna | 5:09afcbe0c18f | 488 | ||temp == Debug12 |
ryuna | 5:09afcbe0c18f | 489 | ||temp == Debug23 |
ryuna | 0:65b9e62cc2b6 | 490 | ||temp == StartS)) return 0;/*スイッチが押されていない*/ |
ryuna | 0:65b9e62cc2b6 | 491 | if(!(temp == 0x00)){ |
ryuna | 0:65b9e62cc2b6 | 492 | for(i = 0; i < 50; i++); |
ryuna | 0:65b9e62cc2b6 | 493 | temp2 = ~Sw - 224; |
ryuna | 0:65b9e62cc2b6 | 494 | if(temp == temp2){ |
ryuna | 0:65b9e62cc2b6 | 495 | return temp; |
ryuna | 0:65b9e62cc2b6 | 496 | } |
ryuna | 0:65b9e62cc2b6 | 497 | } |
ryuna | 0:65b9e62cc2b6 | 498 | return 0; |
ryuna | 0:65b9e62cc2b6 | 499 | } |
ryuna | 0:65b9e62cc2b6 | 500 | |
ryuna | 0:65b9e62cc2b6 | 501 | //通信(モータ用) |
ryuna | 0:65b9e62cc2b6 | 502 | void tx_motor(){ |
ryuna | 0:65b9e62cc2b6 | 503 | array(speed[0],speed[1],speed[3],speed[2]); |
ryuna | 0:65b9e62cc2b6 | 504 | Motor.printf("%s",StringFIN.c_str()); |
ryuna | 0:65b9e62cc2b6 | 505 | } |
ryuna | 0:65b9e62cc2b6 | 506 | |
ryuna | 0:65b9e62cc2b6 | 507 | void SetUp(){ |
ryuna | 0:65b9e62cc2b6 | 508 | /*初期化*/ |
ryuna | 3:4a39486ff238 | 509 | |
ryuna | 0:65b9e62cc2b6 | 510 | Motor.baud(115200); //ボーレート設定 |
ryuna | 0:65b9e62cc2b6 | 511 | Motor.printf("1F0002F0003F0004F000\r\n"); //モータ停止 |
ryuna | 0:65b9e62cc2b6 | 512 | Motor.attach(&tx_motor,Serial::TxIrq); //送信空き割り込み(モータ用) |
ryuna | 0:65b9e62cc2b6 | 513 | |
ryuna | 4:2857f273a7f4 | 514 | Mbed.attach(&micon_rx,Serial::RxIrq); //送信空き割り込み(センサ用) |
ryuna | 4:2857f273a7f4 | 515 | |
ryuna | 5:09afcbe0c18f | 516 | S555.calibrate(0.0006, 120.0); |
ryuna | 2:e84bb87eea71 | 517 | //S555.position(0.0); //初期位置にセット |
ryuna | 0:65b9e62cc2b6 | 518 | move(0,0,0,0);//停止 |
ryuna | 0:65b9e62cc2b6 | 519 | |
ryuna | 5:09afcbe0c18f | 520 | |
ryuna | 0:65b9e62cc2b6 | 521 | Kick = 0; |
ryuna | 5:09afcbe0c18f | 522 | |
ryuna | 0:65b9e62cc2b6 | 523 | Sw.mode(PullUp); |
ryuna | 0:65b9e62cc2b6 | 524 | |
ryuna | 0:65b9e62cc2b6 | 525 | pid.setInputLimits(MINIMUM,MAXIMUM); //pid sed def |
ryuna | 0:65b9e62cc2b6 | 526 | pid.setOutputLimits(-OUT_LIMIT, OUT_LIMIT); //pid sed def |
ryuna | 0:65b9e62cc2b6 | 527 | pid.setBias(PID_BIAS); //pid sed def |
ryuna | 0:65b9e62cc2b6 | 528 | pid.setMode(AUTO_MODE); //pid sed def |
ryuna | 0:65b9e62cc2b6 | 529 | pid.setSetPoint(REFERENCE); //pid sed def |
ryuna | 1:f91d53098d57 | 530 | |
ryuna | 0:65b9e62cc2b6 | 531 | |
ryuna | 5:09afcbe0c18f | 532 | for(int i=0; i<15; i++){ |
ryuna | 5:09afcbe0c18f | 533 | CompassDef = Compass/10; |
ryuna | 5:09afcbe0c18f | 534 | wait_ms(10); |
ryuna | 5:09afcbe0c18f | 535 | } |
ryuna | 5:09afcbe0c18f | 536 | //pidupdate.attach(&PidUpdate, PID_CYCLE); |
ryuna | 5:09afcbe0c18f | 537 | |
ryuna | 0:65b9e62cc2b6 | 538 | } |
ryuna | 0:65b9e62cc2b6 | 539 | void StartLoop(){ |
ryuna | 0:65b9e62cc2b6 | 540 | |
ryuna | 0:65b9e62cc2b6 | 541 | uint8_t State = 0; |
ryuna | 0:65b9e62cc2b6 | 542 | uint8_t LineData = 0; |
ryuna | 5:09afcbe0c18f | 543 | int a; |
ryuna | 0:65b9e62cc2b6 | 544 | while(1){ |
ryuna | 0:65b9e62cc2b6 | 545 | Led[0] = Led[1] = Led[2] = Led[3] = 1; |
ryuna | 0:65b9e62cc2b6 | 546 | //Lcd.cls(); |
ryuna | 2:e84bb87eea71 | 547 | |
ryuna | 0:65b9e62cc2b6 | 548 | State = SwRead(); |
ryuna | 0:65b9e62cc2b6 | 549 | if(State == 0) continue; |
ryuna | 0:65b9e62cc2b6 | 550 | |
ryuna | 0:65b9e62cc2b6 | 551 | if(State == StartS){ |
ryuna | 0:65b9e62cc2b6 | 552 | /*loop end & start*/ |
ryuna | 0:65b9e62cc2b6 | 553 | return; |
ryuna | 0:65b9e62cc2b6 | 554 | } |
ryuna | 0:65b9e62cc2b6 | 555 | |
ryuna | 0:65b9e62cc2b6 | 556 | if(State == Debug1){ |
ryuna | 0:65b9e62cc2b6 | 557 | while((State == Debug1)){ |
ryuna | 0:65b9e62cc2b6 | 558 | LineData = (~Line+0x00) & 0x0F; |
ryuna | 0:65b9e62cc2b6 | 559 | Lcd.printf("%d\n",LineData); |
ryuna | 0:65b9e62cc2b6 | 560 | |
ryuna | 0:65b9e62cc2b6 | 561 | wait_ms(100); |
ryuna | 0:65b9e62cc2b6 | 562 | State = SwRead(); |
ryuna | 0:65b9e62cc2b6 | 563 | } |
ryuna | 0:65b9e62cc2b6 | 564 | Lcd.cls(); |
ryuna | 0:65b9e62cc2b6 | 565 | continue; |
ryuna | 0:65b9e62cc2b6 | 566 | |
ryuna | 0:65b9e62cc2b6 | 567 | } |
ryuna | 0:65b9e62cc2b6 | 568 | if(State == Debug2){ |
ryuna | 0:65b9e62cc2b6 | 569 | while((State == Debug2)){ |
ryuna | 4:2857f273a7f4 | 570 | //Receive(); |
ryuna | 2:e84bb87eea71 | 571 | Lcd.printf("%d\n",IrNum); |
ryuna | 0:65b9e62cc2b6 | 572 | wait_ms(100); |
ryuna | 0:65b9e62cc2b6 | 573 | State = SwRead(); |
ryuna | 0:65b9e62cc2b6 | 574 | } |
ryuna | 0:65b9e62cc2b6 | 575 | Lcd.cls(); |
ryuna | 0:65b9e62cc2b6 | 576 | continue; |
ryuna | 0:65b9e62cc2b6 | 577 | } |
ryuna | 0:65b9e62cc2b6 | 578 | |
ryuna | 0:65b9e62cc2b6 | 579 | if(State == Debug3){ |
ryuna | 0:65b9e62cc2b6 | 580 | while((State == Debug3)){ |
ryuna | 5:09afcbe0c18f | 581 | a = (Compass/10 + 540 - CompassDef) % 360; |
ryuna | 5:09afcbe0c18f | 582 | Lcd.printf("%d\n",a); |
ryuna | 0:65b9e62cc2b6 | 583 | wait_ms(100); |
ryuna | 0:65b9e62cc2b6 | 584 | State = SwRead(); |
ryuna | 0:65b9e62cc2b6 | 585 | } |
ryuna | 0:65b9e62cc2b6 | 586 | Lcd.cls(); |
ryuna | 0:65b9e62cc2b6 | 587 | continue; |
ryuna | 0:65b9e62cc2b6 | 588 | } |
ryuna | 5:09afcbe0c18f | 589 | if(State == Debug12){ |
ryuna | 5:09afcbe0c18f | 590 | while((State == Debug12)){ |
ryuna | 5:09afcbe0c18f | 591 | Lcd.printf("%d %d\n%d %d\n",PingData[0],PingData[1],PingData[2],PingData[3]); |
ryuna | 5:09afcbe0c18f | 592 | wait_ms(100); |
ryuna | 5:09afcbe0c18f | 593 | State = SwRead(); |
ryuna | 5:09afcbe0c18f | 594 | } |
ryuna | 5:09afcbe0c18f | 595 | Lcd.cls(); |
ryuna | 5:09afcbe0c18f | 596 | continue; |
ryuna | 5:09afcbe0c18f | 597 | } |
ryuna | 0:65b9e62cc2b6 | 598 | if(State == Kicker){ |
ryuna | 0:65b9e62cc2b6 | 599 | Led[0] = Led[1] = Led[2] = 0; |
ryuna | 4:2857f273a7f4 | 600 | Kick = 1; |
ryuna | 4:2857f273a7f4 | 601 | wait_ms(500); |
ryuna | 4:2857f273a7f4 | 602 | Kick = 0; |
ryuna | 0:65b9e62cc2b6 | 603 | while((State == Kicker)){ |
ryuna | 0:65b9e62cc2b6 | 604 | wait_ms(100); |
ryuna | 0:65b9e62cc2b6 | 605 | State = SwRead(); |
ryuna | 0:65b9e62cc2b6 | 606 | } |
ryuna | 0:65b9e62cc2b6 | 607 | continue; |
ryuna | 0:65b9e62cc2b6 | 608 | } |
ryuna | 0:65b9e62cc2b6 | 609 | } |
ryuna | 0:65b9e62cc2b6 | 610 | |
ryuna | 0:65b9e62cc2b6 | 611 | } |
ryuna | 0:65b9e62cc2b6 | 612 | int main() { |
ryuna | 0:65b9e62cc2b6 | 613 | |
ryuna | 0:65b9e62cc2b6 | 614 | //uint8_t IrNumOld = 0;//過去値 |
ryuna | 0:65b9e62cc2b6 | 615 | /*Line*/ |
ryuna | 0:65b9e62cc2b6 | 616 | uint8_t LineData = 0; |
ryuna | 2:e84bb87eea71 | 617 | uint8_t LinePing = 0; |
ryuna | 0:65b9e62cc2b6 | 618 | |
ryuna | 2:e84bb87eea71 | 619 | |
ryuna | 0:65b9e62cc2b6 | 620 | /*State */ |
ryuna | 0:65b9e62cc2b6 | 621 | uint8_t LineIr = 0; |
ryuna | 5:09afcbe0c18f | 622 | uint8_t IrChange[13] ={0x01,0x01,0x02,0x02,0x02,0x04, |
ryuna | 3:4a39486ff238 | 623 | |
ryuna | 5:09afcbe0c18f | 624 | 0x04,0x04,0x08,0x08,0x08,0x01,0x00}; |
ryuna | 2:e84bb87eea71 | 625 | |
ryuna | 0:65b9e62cc2b6 | 626 | /*行動設定*/ |
ryuna | 0:65b9e62cc2b6 | 627 | int Power = 0; |
ryuna | 2:e84bb87eea71 | 628 | int Degree = 0; |
ryuna | 0:65b9e62cc2b6 | 629 | |
ryuna | 0:65b9e62cc2b6 | 630 | /*楽しい変数達*/ |
ryuna | 2:e84bb87eea71 | 631 | int nDegree =0;//基礎角 |
ryuna | 2:e84bb87eea71 | 632 | int addDegree = 0;//追加角 |
ryuna | 5:09afcbe0c18f | 633 | int Temp = 0; |
ryuna | 0:65b9e62cc2b6 | 634 | |
ryuna | 5:09afcbe0c18f | 635 | int StopCt = 0; |
ryuna | 0:65b9e62cc2b6 | 636 | |
ryuna | 0:65b9e62cc2b6 | 637 | /*関数ポインタ*/ |
ryuna | 2:e84bb87eea71 | 638 | |
ryuna | 2:e84bb87eea71 | 639 | |
ryuna | 2:e84bb87eea71 | 640 | //void (*AnotherAction[3])(uint8_t [],double); |
ryuna | 2:e84bb87eea71 | 641 | void (*AnotherAction[3])(); |
ryuna | 0:65b9e62cc2b6 | 642 | AnotherAction[0] = IrFrontAction; |
ryuna | 0:65b9e62cc2b6 | 643 | AnotherAction[1] = IrBackAction; |
ryuna | 0:65b9e62cc2b6 | 644 | AnotherAction[2] = GoHome; |
ryuna | 1:f91d53098d57 | 645 | |
ryuna | 2:e84bb87eea71 | 646 | |
ryuna | 0:65b9e62cc2b6 | 647 | SetUp();/*set up routine*/ |
ryuna | 4:2857f273a7f4 | 648 | |
ryuna | 0:65b9e62cc2b6 | 649 | StartLoop(); /*loop strat, switch push end*/ |
ryuna | 2:e84bb87eea71 | 650 | Led[0] = Led[1] = Led[2] = Led[3] = 0; |
ryuna | 2:e84bb87eea71 | 651 | wait_ms(100); |
ryuna | 0:65b9e62cc2b6 | 652 | |
ryuna | 4:2857f273a7f4 | 653 | while(1){ |
ryuna | 0:65b9e62cc2b6 | 654 | |
ryuna | 5:09afcbe0c18f | 655 | //S555.calibrate(0.0006, 120.0); |
ryuna | 2:e84bb87eea71 | 656 | |
ryuna | 4:2857f273a7f4 | 657 | //Receive(); |
ryuna | 2:e84bb87eea71 | 658 | //Lcd.printf("%d\n",IrNum); |
ryuna | 0:65b9e62cc2b6 | 659 | /*白線を読んでいないか確認する*/ |
ryuna | 5:09afcbe0c18f | 660 | |
ryuna | 0:65b9e62cc2b6 | 661 | LineData = (~Line+0x00) & 0x0F; |
ryuna | 2:e84bb87eea71 | 662 | |
ryuna | 0:65b9e62cc2b6 | 663 | if(LineData){ |
ryuna | 2:e84bb87eea71 | 664 | LineIr = LineData & IrChange[IrNum]; |
ryuna | 2:e84bb87eea71 | 665 | LinePing = PingChange(LineData); |
ryuna | 5:09afcbe0c18f | 666 | if(LinePing){ |
ryuna | 5:09afcbe0c18f | 667 | move(0,0,0,0); |
ryuna | 5:09afcbe0c18f | 668 | wait_ms(200); |
ryuna | 5:09afcbe0c18f | 669 | } |
ryuna | 2:e84bb87eea71 | 670 | if(LineIr){ |
ryuna | 2:e84bb87eea71 | 671 | move(0,0,0,0); |
ryuna | 5:09afcbe0c18f | 672 | StopCt = 0; |
ryuna | 2:e84bb87eea71 | 673 | while(LineIr){ |
ryuna | 5:09afcbe0c18f | 674 | if(StopCt>30){ |
ryuna | 5:09afcbe0c18f | 675 | GoHome(); |
ryuna | 5:09afcbe0c18f | 676 | wait_ms(100); |
ryuna | 5:09afcbe0c18f | 677 | } |
ryuna | 5:09afcbe0c18f | 678 | StopCt++; |
ryuna | 2:e84bb87eea71 | 679 | Led[1] = Led[2] = Led[3] = 1; |
ryuna | 4:2857f273a7f4 | 680 | //Receive(); |
ryuna | 2:e84bb87eea71 | 681 | LineData = (~Line+0x00) & 0x0F; |
ryuna | 2:e84bb87eea71 | 682 | LineIr = LineData & IrChange[IrNum]; |
ryuna | 2:e84bb87eea71 | 683 | wait_ms(10); |
ryuna | 2:e84bb87eea71 | 684 | } |
ryuna | 2:e84bb87eea71 | 685 | }else if(LinePing){ |
ryuna | 3:4a39486ff238 | 686 | move(0,0,0,0); |
ryuna | 5:09afcbe0c18f | 687 | StopCt = 0; |
ryuna | 2:e84bb87eea71 | 688 | while(LinePing){ |
ryuna | 7:01bb0b0a98f1 | 689 | if(StopCt>10){ |
ryuna | 5:09afcbe0c18f | 690 | GoHome(); |
ryuna | 5:09afcbe0c18f | 691 | wait_ms(200); |
ryuna | 5:09afcbe0c18f | 692 | } |
ryuna | 5:09afcbe0c18f | 693 | StopCt++; |
ryuna | 7:01bb0b0a98f1 | 694 | |
ryuna | 2:e84bb87eea71 | 695 | Led[1] = Led[2] = Led[3] = 1; |
ryuna | 4:2857f273a7f4 | 696 | //Receive(); |
ryuna | 2:e84bb87eea71 | 697 | LineData = (~Line+0x00) & 0x0F; |
ryuna | 2:e84bb87eea71 | 698 | LinePing = PingChange(LineData); |
ryuna | 3:4a39486ff238 | 699 | |
ryuna | 2:e84bb87eea71 | 700 | wait_ms(10); |
ryuna | 2:e84bb87eea71 | 701 | } |
ryuna | 0:65b9e62cc2b6 | 702 | } |
ryuna | 2:e84bb87eea71 | 703 | |
ryuna | 2:e84bb87eea71 | 704 | |
ryuna | 0:65b9e62cc2b6 | 705 | Led[1] = Led[2] = Led[3] = 0; |
ryuna | 0:65b9e62cc2b6 | 706 | |
ryuna | 0:65b9e62cc2b6 | 707 | } |
ryuna | 0:65b9e62cc2b6 | 708 | |
ryuna | 2:e84bb87eea71 | 709 | Power = 0; |
ryuna | 2:e84bb87eea71 | 710 | Led[0] = 1; |
ryuna | 2:e84bb87eea71 | 711 | Degree = 0; |
ryuna | 2:e84bb87eea71 | 712 | SetC = 0.0; |
ryuna | 2:e84bb87eea71 | 713 | |
ryuna | 0:65b9e62cc2b6 | 714 | |
ryuna | 0:65b9e62cc2b6 | 715 | Led[3] = 1; |
ryuna | 5:09afcbe0c18f | 716 | |
ryuna | 2:e84bb87eea71 | 717 | Degree = IrDegree(); |
ryuna | 0:65b9e62cc2b6 | 718 | |
ryuna | 2:e84bb87eea71 | 719 | if((Degree == 0)||(Degree == 180)||(IrNum == 12)){ |
ryuna | 2:e84bb87eea71 | 720 | (AnotherAction[IrNum/6])(); |
ryuna | 0:65b9e62cc2b6 | 721 | continue; |
ryuna | 0:65b9e62cc2b6 | 722 | } |
ryuna | 2:e84bb87eea71 | 723 | |
ryuna | 2:e84bb87eea71 | 724 | /* |
ryuna | 2:e84bb87eea71 | 725 | if(IrNum == 12){ |
ryuna | 2:e84bb87eea71 | 726 | move(0,0,0,0); |
ryuna | 2:e84bb87eea71 | 727 | wait_ms(10); |
ryuna | 2:e84bb87eea71 | 728 | continue; |
ryuna | 2:e84bb87eea71 | 729 | }*/ |
ryuna | 2:e84bb87eea71 | 730 | |
ryuna | 2:e84bb87eea71 | 731 | nDegree = wrapDegree[Degree/15]; |
ryuna | 5:09afcbe0c18f | 732 | Power = 30; |
ryuna | 5:09afcbe0c18f | 733 | Temp = Degree%180; |
ryuna | 0:65b9e62cc2b6 | 734 | |
ryuna | 5:09afcbe0c18f | 735 | if((Temp>70)&&(Temp<110)){ |
ryuna | 5:09afcbe0c18f | 736 | if(PingData[2]<40){ |
ryuna | 5:09afcbe0c18f | 737 | if(IrData[1] > 70){ |
ryuna | 5:09afcbe0c18f | 738 | if(Degree/180){ |
ryuna | 5:09afcbe0c18f | 739 | addDegree = 90; |
ryuna | 5:09afcbe0c18f | 740 | }else{ |
ryuna | 5:09afcbe0c18f | 741 | addDegree = -90; |
ryuna | 5:09afcbe0c18f | 742 | } |
ryuna | 5:09afcbe0c18f | 743 | }else if(IrData[1] >60){ |
ryuna | 5:09afcbe0c18f | 744 | if(Degree/180){ |
ryuna | 5:09afcbe0c18f | 745 | addDegree = 60; |
ryuna | 5:09afcbe0c18f | 746 | }else{ |
ryuna | 5:09afcbe0c18f | 747 | addDegree = -60; |
ryuna | 5:09afcbe0c18f | 748 | } |
ryuna | 5:09afcbe0c18f | 749 | }else{ |
ryuna | 5:09afcbe0c18f | 750 | addDegree = 0; |
ryuna | 5:09afcbe0c18f | 751 | } |
ryuna | 5:09afcbe0c18f | 752 | }else{ |
ryuna | 5:09afcbe0c18f | 753 | if(IrData[1] > 70){ |
ryuna | 5:09afcbe0c18f | 754 | if(Degree/180){ |
ryuna | 5:09afcbe0c18f | 755 | addDegree = 30; |
ryuna | 5:09afcbe0c18f | 756 | |
ryuna | 5:09afcbe0c18f | 757 | }else{ |
ryuna | 5:09afcbe0c18f | 758 | |
ryuna | 5:09afcbe0c18f | 759 | addDegree = -30; |
ryuna | 5:09afcbe0c18f | 760 | } |
ryuna | 5:09afcbe0c18f | 761 | |
ryuna | 5:09afcbe0c18f | 762 | }else if(IrData[1] >60){ |
ryuna | 5:09afcbe0c18f | 763 | if(Degree/180){ |
ryuna | 5:09afcbe0c18f | 764 | addDegree = 20; |
ryuna | 5:09afcbe0c18f | 765 | |
ryuna | 5:09afcbe0c18f | 766 | }else{ |
ryuna | 5:09afcbe0c18f | 767 | addDegree = -20; |
ryuna | 5:09afcbe0c18f | 768 | } |
ryuna | 5:09afcbe0c18f | 769 | |
ryuna | 5:09afcbe0c18f | 770 | |
ryuna | 5:09afcbe0c18f | 771 | }else { |
ryuna | 5:09afcbe0c18f | 772 | addDegree = 0; |
ryuna | 5:09afcbe0c18f | 773 | |
ryuna | 5:09afcbe0c18f | 774 | } |
ryuna | 5:09afcbe0c18f | 775 | |
ryuna | 5:09afcbe0c18f | 776 | } |
ryuna | 5:09afcbe0c18f | 777 | }else{ |
ryuna | 5:09afcbe0c18f | 778 | if(IrData[1] > 70){ |
ryuna | 5:09afcbe0c18f | 779 | if(Degree/180){ |
ryuna | 5:09afcbe0c18f | 780 | addDegree = 30; |
ryuna | 5:09afcbe0c18f | 781 | |
ryuna | 5:09afcbe0c18f | 782 | }else{ |
ryuna | 5:09afcbe0c18f | 783 | |
ryuna | 5:09afcbe0c18f | 784 | addDegree = -30; |
ryuna | 5:09afcbe0c18f | 785 | } |
ryuna | 5:09afcbe0c18f | 786 | |
ryuna | 5:09afcbe0c18f | 787 | }else if(IrData[1] >60){ |
ryuna | 5:09afcbe0c18f | 788 | if(Degree/180){ |
ryuna | 5:09afcbe0c18f | 789 | addDegree = 20; |
ryuna | 5:09afcbe0c18f | 790 | |
ryuna | 5:09afcbe0c18f | 791 | }else{ |
ryuna | 5:09afcbe0c18f | 792 | addDegree = -20; |
ryuna | 5:09afcbe0c18f | 793 | } |
ryuna | 5:09afcbe0c18f | 794 | |
ryuna | 5:09afcbe0c18f | 795 | |
ryuna | 5:09afcbe0c18f | 796 | }else { |
ryuna | 5:09afcbe0c18f | 797 | addDegree = 0; |
ryuna | 5:09afcbe0c18f | 798 | |
ryuna | 5:09afcbe0c18f | 799 | } |
ryuna | 5:09afcbe0c18f | 800 | } |
ryuna | 5:09afcbe0c18f | 801 | if(PingData[2]<40){ |
ryuna | 5:09afcbe0c18f | 802 | if((Degree>150)&&(Degree<300)) |
ryuna | 5:09afcbe0c18f | 803 | if(Degree/180){ |
ryuna | 5:09afcbe0c18f | 804 | addDegree = 60; |
ryuna | 5:09afcbe0c18f | 805 | |
ryuna | 5:09afcbe0c18f | 806 | }else{ |
ryuna | 5:09afcbe0c18f | 807 | |
ryuna | 5:09afcbe0c18f | 808 | addDegree = -60; |
ryuna | 5:09afcbe0c18f | 809 | } |
ryuna | 5:09afcbe0c18f | 810 | } |
ryuna | 5:09afcbe0c18f | 811 | |
ryuna | 5:09afcbe0c18f | 812 | Degree = nDegree + addDegree; |
ryuna | 0:65b9e62cc2b6 | 813 | |
ryuna | 2:e84bb87eea71 | 814 | if((Degree <0)||(Degree>=360)){ |
ryuna | 2:e84bb87eea71 | 815 | Degree = 0; |
ryuna | 2:e84bb87eea71 | 816 | } |
ryuna | 2:e84bb87eea71 | 817 | fool(&Degree,&Power); |
ryuna | 5:09afcbe0c18f | 818 | move(Power,Power,CompassPID,Degree); |
ryuna | 2:e84bb87eea71 | 819 | |
ryuna | 2:e84bb87eea71 | 820 | //wait_ms(500); |
ryuna | 2:e84bb87eea71 | 821 | Led[0] =0; |
ryuna | 0:65b9e62cc2b6 | 822 | wait_ms(10); |
ryuna | 0:65b9e62cc2b6 | 823 | |
ryuna | 0:65b9e62cc2b6 | 824 | } |
ryuna | 5:09afcbe0c18f | 825 | int i; |
ryuna | 5:09afcbe0c18f | 826 | while(1){ |
ryuna | 0:65b9e62cc2b6 | 827 | //デモプログラム |
ryuna | 3:4a39486ff238 | 828 | //Receive(); |
ryuna | 5:09afcbe0c18f | 829 | for(i = 0; i<360; i++){ |
ryuna | 5:09afcbe0c18f | 830 | Power = 20; |
ryuna | 5:09afcbe0c18f | 831 | fool(&i,&Power); |
ryuna | 5:09afcbe0c18f | 832 | |
ryuna | 5:09afcbe0c18f | 833 | move(Power,Power,0,i); |
ryuna | 5:09afcbe0c18f | 834 | wait_ms(200); |
ryuna | 5:09afcbe0c18f | 835 | } |
ryuna | 5:09afcbe0c18f | 836 | //pc.printf("%d %d %d %d %d\n",IrData[0],IrData[1],IrData[2],PingData[0],PingData[1]); |
ryuna | 4:2857f273a7f4 | 837 | //pc.printf("%d %d %d %d\n",PingData[1],PingData[2],PingData[3],Compass); |
ryuna | 4:2857f273a7f4 | 838 | |
ryuna | 3:4a39486ff238 | 839 | //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 | 4:2857f273a7f4 | 840 | //pc.printf("%d\t %d\t %d\t %d\n",speed[0],speed[1],speed[2],speed[3]); |
ryuna | 2:e84bb87eea71 | 841 | wait(0.1); |
ryuna | 0:65b9e62cc2b6 | 842 | } |
ryuna | 0:65b9e62cc2b6 | 843 | |
ryuna | 1:f91d53098d57 | 844 | |
ryuna | 0:65b9e62cc2b6 | 845 | |
ryuna | 0:65b9e62cc2b6 | 846 | |
ryuna | 0:65b9e62cc2b6 | 847 | } |