2015 robotic contest arakawa A / Mbed 2 deprecated Nucleo_PS3_Jikken_PS3

マザー 20151028 PS3

Dependencies:   mbed

Fork of Nucleo_PS3_Jikken3 by 2015 robotic contest arakawa A

main.cpp@24:ee0943b12feb, 2015-10-28 (annotated)

Committer:
nodoame
Date:
Wed Oct 28 09:18:09 2015 +0000
Revision:
24:ee0943b12feb
Parent:
23:d5f7e3dab589 
PS3; 20151028

Who changed what in which revision?

UserRevisionLine numberNew contents of line
nodoame 0:dc587be179e9 1 #include "mbed.h"
nodoame 0:dc587be179e9 2 #include "math.h"
nodoame 0:dc587be179e9 3 #define M_PI 3.1415926535897932384626433832795
nodoame 0:dc587be179e9 4 #define trigL 0
nodoame 0:dc587be179e9 5 #define trigR 1
nodoame 0:dc587be179e9 6 #define btL 2
nodoame 0:dc587be179e9 7 #define btR 3
nodoame 0:dc587be179e9 8 #define btTri 4
nodoame 0:dc587be179e9 9 #define btSph 5
nodoame 0:dc587be179e9 10 #define btCro 6
nodoame 0:dc587be179e9 11 #define btSqa 7
nodoame 20:373fa71ce05b 12 #define btSel 0
nodoame 20:373fa71ce05b 13 #define presUp 4
nodoame 20:373fa71ce05b 14 #define presRight 5
nodoame 20:373fa71ce05b 15 #define presDown 6
nodoame 20:373fa71ce05b 16 #define presLeft 7
nodoame 4:bae4e2d103d4 17 #define devideNum 32
nodoame 4:bae4e2d103d4 18 #define ED 132
nodoame 6:5171a8245b57 19 #define TD 144//208
nodoame 5:428b7ac86810 20 #define EL 134
nodoame 5:428b7ac86810 21 #define TL 200
nodoame 6:5171a8245b57 22 #define TNR 138//204
nodoame 20:373fa71ce05b 23 #define TNL 150
nodoame 11:1ca2498815c9 24 #define debugFlag 1
nodoame 11:1ca2498815c9 25 #define stopCount 33
nodoame 24:ee0943b12feb 26 #define shotWait 0.5
nodoame 0:dc587be179e9 27
nodoame 0:dc587be179e9 28 Serial pc(SERIAL_TX, SERIAL_RX);
nodoame 1:a3bfd422ea9e 29 //Serial Dev(D8,D2);//コントローラー
nodoame 3:c290afbacd1c 30 Serial Dev(PC_6,PA_12);//コントローラー
nodoame 1:a3bfd422ea9e 31 RawSerial Mechanum(D8,D2);//メカナム
nodoame 0:dc587be179e9 32 I2C i2c(D14,D15);//sda,scl
nodoame 5:428b7ac86810 33 //const int airAddr=0x20;
nodoame 20:373fa71ce05b 34 const int airAddr=0xd0;
nodoame 20:373fa71ce05b 35 const int airReg=10;
nodoame 5:428b7ac86810 36 const int valveAddr=0xC0;
nodoame 1:a3bfd422ea9e 37 BusOut dI2c(PC_0,PC_1,PC_2,PC_3);//i2cデバッグ
nodoame 0:dc587be179e9 38
nodoame 0:dc587be179e9 39 int Bflag = 0;
nodoame 0:dc587be179e9 40 DigitalOut myled(LED1);// ,test1(PB_7) ,test2(PA_15) ,test3(PC_13) ,test4(PC_12);
nodoame 4:bae4e2d103d4 41 PwmOut Blue(D5),Green(D4),Red(D3);
nodoame 4:bae4e2d103d4 42 //PwmOut kRed(A3),kBlue(A1),kGreen(A0);
nodoame 4:bae4e2d103d4 43 PwmOut kRed(A3),kBlue(PA_15),kGreen(PB_7);
nodoame 5:428b7ac86810 44 #define N 7
nodoame 0:dc587be179e9 45 char DATA[N];
nodoame 0:dc587be179e9 46 void rotate(double setAngle);
nodoame 0:dc587be179e9 47 void speed();
nodoame 11:1ca2498815c9 48 int stopCounter=0;
nodoame 23:d5f7e3dab589 49 bool pushF=false;
nodoame 1:a3bfd422ea9e 50
nodoame 5:428b7ac86810 51 void num()//割り込まれたら7回受信
nodoame 0:dc587be179e9 52 {
nodoame 0:dc587be179e9 53 if(Dev.getc()==114){
nodoame 0:dc587be179e9 54 //printf("ReceiveCommand\r\n");
nodoame 0:dc587be179e9 55 for(int i = 0 ;i<N ;i++ )
nodoame 0:dc587be179e9 56 {
nodoame 0:dc587be179e9 57 DATA[i]=Dev.getc();
nodoame 0:dc587be179e9 58 }
nodoame 0:dc587be179e9 59 }
nodoame 11:1ca2498815c9 60 stopCounter=0;
nodoame 0:dc587be179e9 61 }
nodoame 0:dc587be179e9 62
nodoame 0:dc587be179e9 63 bool getBt(int num)
nodoame 0:dc587be179e9 64 {
nodoame 0:dc587be179e9 65 return (DATA[0]>>num)%2;
nodoame 0:dc587be179e9 66 }
nodoame 0:dc587be179e9 67
nodoame 5:428b7ac86810 68 bool getPress(int num)
nodoame 5:428b7ac86810 69 {
nodoame 5:428b7ac86810 70 return (DATA[6]>>num)%2;
nodoame 5:428b7ac86810 71 }
nodoame 5:428b7ac86810 72
nodoame 0:dc587be179e9 73 double pointToDeg(double y,double x,int threshold)//座標から角度を求める関数thresholdはしきい値
nodoame 0:dc587be179e9 74 {
nodoame 0:dc587be179e9 75 if(abs((int)(y-128))<threshold)
nodoame 0:dc587be179e9 76 y=128;
nodoame 0:dc587be179e9 77 if(abs((int)(x-128))<threshold)
nodoame 0:dc587be179e9 78 x=128;
nodoame 0:dc587be179e9 79 return atan2(-(y-128),x-128)/M_PI*180;//y軸反転、/PI*180でRadからDeg変換
nodoame 0:dc587be179e9 80 }
nodoame 0:dc587be179e9 81
nodoame 20:373fa71ce05b 82 int devidePoint(double y,double x,int threshold,float devide)
nodoame 0:dc587be179e9 83 {
nodoame 0:dc587be179e9 84 double tempX,tempY,dev;//仮のX,Yと分けた角度
nodoame 0:dc587be179e9 85 tempX=(x-128);tempY=(y-128);//それぞれ-128
nodoame 0:dc587be179e9 86 if(abs((int)tempY)<threshold)//しきい値以下なら０にする
nodoame 0:dc587be179e9 87 tempY=0;
nodoame 0:dc587be179e9 88 if(abs((int)tempX)<threshold)
nodoame 0:dc587be179e9 89 tempX=0;
nodoame 0:dc587be179e9 90 if(tempX==0&&tempY==0)
nodoame 0:dc587be179e9 91 dev=360;
nodoame 0:dc587be179e9 92 //printf("X:%lfY:%lfDev:%lf\r\n",tempX,tempY,dev);
nodoame 0:dc587be179e9 93 else
nodoame 0:dc587be179e9 94 dev=atan2(tempX,-tempY)/M_PI*180;//軸を逆にして代入、Y軸反転
nodoame 0:dc587be179e9 95 return ((dev<0)?(dev+360):(dev))/devide;//分割
nodoame 0:dc587be179e9 96 }
nodoame 0:dc587be179e9 97
nodoame 4:bae4e2d103d4 98 int valueForMechanum(int deg,int devide,bool triL,bool triR,bool btSpd)
nodoame 0:dc587be179e9 99 {
nodoame 0:dc587be179e9 100 bool stpFlag=false,spnFlag=false;//ストップフラグ、スピンフラグ
nodoame 0:dc587be179e9 101 int val=0,i;//値、For用
nodoame 0:dc587be179e9 102 for(i=0;i<6;i++){
nodoame 0:dc587be179e9 103 switch(i){
nodoame 0:dc587be179e9 104 case 0:
nodoame 4:bae4e2d103d4 105 if(deg!=devide||(triL||triR))//スピンかニュートラル以外なら
nodoame 0:dc587be179e9 106 val=1;
nodoame 0:dc587be179e9 107 else
nodoame 0:dc587be179e9 108 stpFlag=true;//ストップ
nodoame 0:dc587be179e9 109 break;
nodoame 0:dc587be179e9 110
nodoame 0:dc587be179e9 111 case 1:
nodoame 0:dc587be179e9 112 if(stpFlag)
nodoame 4:bae4e2d103d4 113 val++;
nodoame 0:dc587be179e9 114 else
nodoame 0:dc587be179e9 115 val+=btSpd;//スピード
nodoame 0:dc587be179e9 116 break;
nodoame 0:dc587be179e9 117
nodoame 0:dc587be179e9 118 case 2:
nodoame 0:dc587be179e9 119 if(triL||triR){//トリガーのどちらかがONなら
nodoame 0:dc587be179e9 120 val++;
nodoame 0:dc587be179e9 121 spnFlag=true;//スピンフラグON
nodoame 0:dc587be179e9 122 }
nodoame 0:dc587be179e9 123 break;
nodoame 0:dc587be179e9 124
nodoame 0:dc587be179e9 125 case 5:
nodoame 4:bae4e2d103d4 126 val=val<<2;//5bit目から7bit目へ
nodoame 0:dc587be179e9 127 if(spnFlag)//トリガーのどちらかの値
nodoame 0:dc587be179e9 128 val+=(triL)?1:0;
nodoame 4:bae4e2d103d4 129 else if(!stpFlag)//ジョイスティックの値
nodoame 0:dc587be179e9 130 val+=deg;
nodoame 0:dc587be179e9 131 break;
nodoame 0:dc587be179e9 132 }
nodoame 0:dc587be179e9 133 if(i<5)
nodoame 0:dc587be179e9 134 val=val<<1;
nodoame 0:dc587be179e9 135 }
nodoame 0:dc587be179e9 136 //printf("val:%ddeg:%dtrigL:%dtrigR:%dbtSp:%d\r\n",val,deg,triL,triR,btSpd);
nodoame 0:dc587be179e9 137 return val;
nodoame 0:dc587be179e9 138 }
nodoame 0:dc587be179e9 139
nodoame 20:373fa71ce05b 140 bool detectPole(int scVector)
nodoame 0:dc587be179e9 141 {
nodoame 15:c941d06092ec 142 int vector=TD,laser=0;
nodoame 20:373fa71ce05b 143 bool btFlag=false,canFlag=false,breakFlag=false,stopFlag=false;
nodoame 4:bae4e2d103d4 144 Blue=0.0f;Green=0.0f,Red=0.8f;
nodoame 0:dc587be179e9 145 while(true)
nodoame 20:373fa71ce05b 146 {
nodoame 20:373fa71ce05b 147 if((getBt(btTri)&&getBt(btSph)&&canFlag)||breakFlag)
nodoame 20:373fa71ce05b 148 return breakFlag;
nodoame 20:373fa71ce05b 149 else if(!(getBt(btTri)&&getBt(btSph)))
nodoame 20:373fa71ce05b 150 canFlag=true;
nodoame 20:373fa71ce05b 151
nodoame 14:aaf2ae25e508 152 //スイッチが押された時
nodoame 20:373fa71ce05b 153 if(((int)DATA[1]&12)==12&&!btFlag){
nodoame 5:428b7ac86810 154 wait(0.001f);
nodoame 5:428b7ac86810 155 Mechanum.putc(64);
nodoame 4:bae4e2d103d4 156 btFlag=true;
nodoame 20:373fa71ce05b 157 Blue=0;Green=0.8;Red=0;
nodoame 15:c941d06092ec 158 vector=scVector;
nodoame 14:aaf2ae25e508 159 }
nodoame 11:1ca2498815c9 160
nodoame 15:c941d06092ec 161 //片方のレーザーが反応したとき
nodoame 20:373fa71ce05b 162 if(btFlag&&!laser){
nodoame 20:373fa71ce05b 163 if(!(((int)DATA[1]&2)==2)){
nodoame 15:c941d06092ec 164 laser=1;
nodoame 20:373fa71ce05b 165 Red=0.8;
nodoame 15:c941d06092ec 166 vector=0;
nodoame 15:c941d06092ec 167 }
nodoame 20:373fa71ce05b 168 else if(!(((int)DATA[1]&1)==1)){
nodoame 15:c941d06092ec 169 laser=2;
nodoame 20:373fa71ce05b 170 Red=0.8;
nodoame 15:c941d06092ec 171 vector=0;
nodoame 9:489a085d1703 172 }
nodoame 9:489a085d1703 173 }
nodoame 15:c941d06092ec 174
nodoame 15:c941d06092ec 175 //もう片方のレーザーが反応した時
nodoame 20:373fa71ce05b 176 else if(!(((int)DATA[1]&laser)==laser)&&laser&&!stopFlag){
nodoame 20:373fa71ce05b 177 Green=0;Red=0.8;Blue=0.8;
nodoame 20:373fa71ce05b 178 vector=64;
nodoame 20:373fa71ce05b 179 stopFlag=true;
nodoame 20:373fa71ce05b 180 wait(0.05);
nodoame 20:373fa71ce05b 181 }
nodoame 20:373fa71ce05b 182 //ストップ後
nodoame 20:373fa71ce05b 183 else if(stopFlag)
nodoame 20:373fa71ce05b 184 {
nodoame 20:373fa71ce05b 185 vector=162;
nodoame 20:373fa71ce05b 186 breakFlag=true;
nodoame 0:dc587be179e9 187 }
nodoame 4:bae4e2d103d4 188
nodoame 15:c941d06092ec 189 //pc.printf("%d\r\n",DATA[1]);
nodoame 20:373fa71ce05b 190 //deg=devidePoint((double)DATA[3],(double)DATA[2],15,360/devideNum);
nodoame 20:373fa71ce05b 191 //pc.printf("%d\r\n",scVector);
nodoame 0:dc587be179e9 192 Mechanum.putc(vector);
nodoame 20:373fa71ce05b 193 wait(0.0126f);
nodoame 0:dc587be179e9 194 }
nodoame 4:bae4e2d103d4 195 btFlag=false;
nodoame 5:428b7ac86810 196 Blue=0;Green=0;Red=0;
nodoame 0:dc587be179e9 197 }
nodoame 0:dc587be179e9 198
nodoame 0:dc587be179e9 199
nodoame 5:428b7ac86810 200 bool shotToDenziben(char reg, char data ,int size,int addr)
nodoame 0:dc587be179e9 201 {
nodoame 5:428b7ac86810 202 char REG[2] = {reg,size};
nodoame 5:428b7ac86810 203 char DATA[2]={data,0};
nodoame 5:428b7ac86810 204 bool A = i2c.write(addr,REG,2);
nodoame 5:428b7ac86810 205 A|= i2c.write(addr,DATA,size);
nodoame 1:a3bfd422ea9e 206 return A;
nodoame 0:dc587be179e9 207 }
nodoame 0:dc587be179e9 208
nodoame 5:428b7ac86810 209 char getshot(char reg)
nodoame 5:428b7ac86810 210 {
nodoame 5:428b7ac86810 211 char input=0;
nodoame 5:428b7ac86810 212 char DATA[2] = {reg,1};
nodoame 5:428b7ac86810 213 i2c.write(airAddr,DATA,2);
nodoame 5:428b7ac86810 214 wait(0.005f);
nodoame 5:428b7ac86810 215 i2c.read(airAddr,&input,1);
nodoame 5:428b7ac86810 216 return input;
nodoame 5:428b7ac86810 217 }
nodoame 5:428b7ac86810 218
nodoame 12:6445a3c3d34c 219 void setFCLED(double RED,double GREEN,double BLUE)
nodoame 12:6445a3c3d34c 220 {
nodoame 12:6445a3c3d34c 221 Red=RED;
nodoame 12:6445a3c3d34c 222 Green=GREEN;
nodoame 12:6445a3c3d34c 223 Blue=BLUE;
nodoame 12:6445a3c3d34c 224 }
nodoame 12:6445a3c3d34c 225
nodoame 4:bae4e2d103d4 226 int main() {
nodoame 0:dc587be179e9 227 pc.baud(230400);
nodoame 24:ee0943b12feb 228 Dev.baud(921600);//PS3
nodoame 24:ee0943b12feb 229 //Dev.baud(115200);//XBOX
nodoame 0:dc587be179e9 230 Mechanum.baud(230400);
nodoame 5:428b7ac86810 231 DigitalIn bt(USER_BUTTON);
nodoame 0:dc587be179e9 232 Dev.attach(num,Serial::RxIrq);//受信割り込み設定
nodoame 1:a3bfd422ea9e 233 Green=0;Blue=0;Red=0;
nodoame 12:6445a3c3d34c 234 double gValue=0,bValue=0,rValue=0;
nodoame 3:c290afbacd1c 235 DigitalOut l(PB_2);
nodoame 3:c290afbacd1c 236 int sqf=0;
nodoame 20:373fa71ce05b 237 double deg=32;
nodoame 0:dc587be179e9 238 int val;
nodoame 1:a3bfd422ea9e 239 i2c.frequency(400000);
nodoame 12:6445a3c3d34c 240 setFCLED(0,0.8,0.8);
nodoame 23:d5f7e3dab589 241 bool obonFlag=false,pLeftF=false,pRightF=false,btCrF=false,detFinF=false,touchSF=false;
nodoame 0:dc587be179e9 242
nodoame 0:dc587be179e9 243 while(true)
nodoame 12:6445a3c3d34c 244 {
nodoame 23:d5f7e3dab589 245 /* //ポール検出モード
nodoame 0:dc587be179e9 246 if(getBt(btTri)&&getBt(btSph)){
nodoame 20:373fa71ce05b 247 if(deg>devideNum-1);
nodoame 20:373fa71ce05b 248 else if(deg<17){
nodoame 20:373fa71ce05b 249 //pc.printf("R\r\n");
nodoame 20:373fa71ce05b 250 detFinF=detectPole(TNR);
nodoame 20:373fa71ce05b 251 }
nodoame 20:373fa71ce05b 252 else{
nodoame 20:373fa71ce05b 253 //pc.printf("L\r\n");
nodoame 20:373fa71ce05b 254 detFinF=detectPole(TNL);
nodoame 20:373fa71ce05b 255 }
nodoame 23:d5f7e3dab589 256 }*/
nodoame 5:428b7ac86810 257
nodoame 23:d5f7e3dab589 258 do{
nodoame 23:d5f7e3dab589 259 bool l=getBt(btL),r=getBt(btR),t=getBt(btTri);
nodoame 23:d5f7e3dab589 260 if(!l&&!r&&!t)
nodoame 23:d5f7e3dab589 261 pushF=false;
nodoame 23:d5f7e3dab589 262 if(pushF||!obonFlag)
nodoame 23:d5f7e3dab589 263 break;
nodoame 23:d5f7e3dab589 264
nodoame 23:d5f7e3dab589 265 //射出
nodoame 23:d5f7e3dab589 266 if(l){
nodoame 24:ee0943b12feb 267 //pc.printf("L\r\n");
nodoame 23:d5f7e3dab589 268 pushF=true;
nodoame 23:d5f7e3dab589 269 kRed=shotToDenziben(airReg,1,1,airAddr);
nodoame 23:d5f7e3dab589 270 wait(shotWait);
nodoame 23:d5f7e3dab589 271 kRed=shotToDenziben(airReg,0,1,airAddr);
nodoame 23:d5f7e3dab589 272 kRed=0;
nodoame 23:d5f7e3dab589 273 }
nodoame 23:d5f7e3dab589 274
nodoame 23:d5f7e3dab589 275 //射出
nodoame 23:d5f7e3dab589 276 else if(r){
nodoame 24:ee0943b12feb 277 //pc.printf("R\r\n");
nodoame 23:d5f7e3dab589 278 pushF=true;
nodoame 23:d5f7e3dab589 279 kRed=shotToDenziben(airReg,2,1,airAddr);
nodoame 23:d5f7e3dab589 280 wait(shotWait);
nodoame 23:d5f7e3dab589 281 kRed=shotToDenziben(airReg,0,1,airAddr);
nodoame 23:d5f7e3dab589 282 //printf("shot:%d\r\n",i2cS=i2c.write(airAddr,cmd,2));
nodoame 23:d5f7e3dab589 283 //i2c.write(airAddr,cmd,2);
nodoame 23:d5f7e3dab589 284 kRed=0;
nodoame 23:d5f7e3dab589 285 }
nodoame 23:d5f7e3dab589 286
nodoame 23:d5f7e3dab589 287 //射出
nodoame 23:d5f7e3dab589 288 else if(t){
nodoame 24:ee0943b12feb 289 //pc.printf("T\r\n");
nodoame 23:d5f7e3dab589 290 pushF=true;
nodoame 23:d5f7e3dab589 291 kRed=shotToDenziben(airReg,4,1,airAddr);
nodoame 23:d5f7e3dab589 292 wait(shotWait);
nodoame 23:d5f7e3dab589 293 kRed=shotToDenziben(airReg,0,1,airAddr);
nodoame 23:d5f7e3dab589 294 kRed=0;
nodoame 23:d5f7e3dab589 295 }
nodoame 23:d5f7e3dab589 296
nodoame 23:d5f7e3dab589 297 }while(false);
nodoame 3:c290afbacd1c 298
nodoame 5:428b7ac86810 299 //レーザーポインタ
nodoame 3:c290afbacd1c 300 if(getBt(btSqa)&&sqf){
nodoame 3:c290afbacd1c 301 sqf=0;
nodoame 3:c290afbacd1c 302 l=!l;
nodoame 4:bae4e2d103d4 303 kBlue=!kBlue;
nodoame 0:dc587be179e9 304 }
nodoame 3:c290afbacd1c 305 else if(!getBt(btSqa))
nodoame 3:c290afbacd1c 306 sqf=1;
nodoame 3:c290afbacd1c 307
nodoame 22:ab619079fb8d 308 //タッチセンサ
nodoame 23:d5f7e3dab589 309 if(((int)DATA[1]&12)==12&&!touchSF){
nodoame 23:d5f7e3dab589 310 touchSF=true;
nodoame 24:ee0943b12feb 311 gValue=0.5;
nodoame 20:373fa71ce05b 312 }
nodoame 24:ee0943b12feb 313 else if(!(((int)DATA[1]&12)==12)){
nodoame 23:d5f7e3dab589 314 touchSF=false;
nodoame 24:ee0943b12feb 315 gValue=0;
nodoame 23:d5f7e3dab589 316 }
nodoame 20:373fa71ce05b 317 //お盆回し
nodoame 20:373fa71ce05b 318 if(getPress(presUp)){
nodoame 24:ee0943b12feb 319 //pc.printf("L\r\n");
nodoame 20:373fa71ce05b 320 obonFlag=true;
nodoame 22:ab619079fb8d 321 Mechanum.putc(162);
nodoame 24:ee0943b12feb 322 rValue=0.5;
nodoame 20:373fa71ce05b 323 kRed=0;
nodoame 22:ab619079fb8d 324 wait(0.2);
nodoame 20:373fa71ce05b 325 }
nodoame 20:373fa71ce05b 326 else if(getPress(presDown)){
nodoame 22:ab619079fb8d 327 Mechanum.putc(163);
nodoame 23:d5f7e3dab589 328 rValue=0;
nodoame 20:373fa71ce05b 329 obonFlag=false;
nodoame 20:373fa71ce05b 330 kRed=0;
nodoame 22:ab619079fb8d 331 wait(0.2);
nodoame 22:ab619079fb8d 332 }
nodoame 19:cd036cc40a2d 333
nodoame 20:373fa71ce05b 334 deg=devidePoint((double)DATA[3],(double)DATA[2],15,360/devideNum);
nodoame 23:d5f7e3dab589 335
nodoame 20:373fa71ce05b 336 if(getPress(btSel)||(detFinF&&deg!=devideNum)){
nodoame 20:373fa71ce05b 337 detFinF=false;
nodoame 20:373fa71ce05b 338 Mechanum.putc(163);
nodoame 20:373fa71ce05b 339 wait(0.1);
nodoame 19:cd036cc40a2d 340 }
nodoame 20:373fa71ce05b 341 else {
nodoame 20:373fa71ce05b 342 val=valueForMechanum(deg,devideNum,getBt(trigL),getBt(trigR),getBt(btSph));
nodoame 20:373fa71ce05b 343 //pc.printf("%lf\r\n",deg);
nodoame 19:cd036cc40a2d 344 }
nodoame 20:373fa71ce05b 345
nodoame 11:1ca2498815c9 346
nodoame 11:1ca2498815c9 347 //一定時間通信してないと停止
nodoame 11:1ca2498815c9 348 if(stopCounter>stopCount)
nodoame 11:1ca2498815c9 349 val=64;
nodoame 11:1ca2498815c9 350 else
nodoame 11:1ca2498815c9 351 stopCounter++;
nodoame 0:dc587be179e9 352 Mechanum.putc(val);
nodoame 24:ee0943b12feb 353 //bValue=0.8;
nodoame 12:6445a3c3d34c 354 setFCLED(rValue,gValue,bValue);
nodoame 0:dc587be179e9 355 wait(0.03f);
nodoame 11:1ca2498815c9 356 do{
nodoame 11:1ca2498815c9 357 if(!debugFlag)
nodoame 11:1ca2498815c9 358 break;
nodoame 20:373fa71ce05b 359 //pc.printf("%d\r\n",DATA[6]);
nodoame 20:373fa71ce05b 360 //if(getPress(btSel))
nodoame 20:373fa71ce05b 361 // pc.printf("up\r\n");
nodoame 24:ee0943b12feb 362 pc.printf("val:%d\r\n",val);
nodoame 24:ee0943b12feb 363 pc.printf("a");
nodoame 11:1ca2498815c9 364 //printf("%lf:%d:%d\r\n",deg,(int)DATA[3],(int)DATA[2]);
nodoame 11:1ca2498815c9 365 //printf("%d\r\n",(int)DATA[0]);
nodoame 11:1ca2498815c9 366 //pc.printf("DATA[1]%d\r\n",(int)(DATA[1]&0x02));
nodoame 11:1ca2498815c9 367 //printf("deg:%lfX1:%d:bt%ddeg:%lfval:%d\r\n",deg,(int)DATA[1],getBt(btSqa),deg,val);
nodoame 20:373fa71ce05b 368 //pc.printf("%lf\r\n",deg);
nodoame 11:1ca2498815c9 369 }while(false);
nodoame 0:dc587be179e9 370 }
nodoame 0:dc587be179e9 371 }