2015 robotic contest arakawa A / Mbed 2 deprecated Nucleo_PS3_Jikken_new

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Dependencies:   mbed

Fork of Nucleo_PS3_Jikken_XBEE by 2015 robotic contest arakawa A

main.cpp@31:d9c70bcdb54e, 2015-11-09 (annotated)

Committer:
nodoame
Date:
Mon Nov 09 10:33:14 2015 +0000
Revision:
31:d9c70bcdb54e
Parent:
30:0226cfd4965a
Child:
32:34f14f9eee7f
20151109; ??

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 31:d9c70bcdb54e 24 #define debugFlag 0
nodoame 11:1ca2498815c9 25 #define stopCount 33
nodoame 24:ee0943b12feb 26 #define shotWait 0.5
nodoame 27:cc853efb663c 27 #define isXBOX true
nodoame 29:9cfd082de61e 28 #define XBOXrate 19200
nodoame 0:dc587be179e9 29
nodoame 0:dc587be179e9 30 Serial pc(SERIAL_TX, SERIAL_RX);
nodoame 1:a3bfd422ea9e 31 //Serial Dev(D8,D2);//コントローラー
nodoame 3:c290afbacd1c 32 Serial Dev(PC_6,PA_12);//コントローラー
nodoame 1:a3bfd422ea9e 33 RawSerial Mechanum(D8,D2);//メカナム
nodoame 0:dc587be179e9 34 I2C i2c(D14,D15);//sda,scl
nodoame 5:428b7ac86810 35 //const int airAddr=0x20;
nodoame 20:373fa71ce05b 36 const int airAddr=0xd0;
nodoame 31:d9c70bcdb54e 37 const int airAddr2=0xf0;
nodoame 20:373fa71ce05b 38 const int airReg=10;
nodoame 5:428b7ac86810 39 const int valveAddr=0xC0;
nodoame 1:a3bfd422ea9e 40 BusOut dI2c(PC_0,PC_1,PC_2,PC_3);//i2cデバッグ
nodoame 0:dc587be179e9 41
nodoame 0:dc587be179e9 42 int Bflag = 0;
nodoame 0:dc587be179e9 43 DigitalOut myled(LED1);// ,test1(PB_7) ,test2(PA_15) ,test3(PC_13) ,test4(PC_12);
nodoame 4:bae4e2d103d4 44 PwmOut Blue(D5),Green(D4),Red(D3);
nodoame 4:bae4e2d103d4 45 //PwmOut kRed(A3),kBlue(A1),kGreen(A0);
nodoame 4:bae4e2d103d4 46 PwmOut kRed(A3),kBlue(PA_15),kGreen(PB_7);
nodoame 5:428b7ac86810 47 #define N 7
nodoame 0:dc587be179e9 48 char DATA[N];
nodoame 0:dc587be179e9 49 void rotate(double setAngle);
nodoame 0:dc587be179e9 50 void speed();
nodoame 11:1ca2498815c9 51 int stopCounter=0;
nodoame 23:d5f7e3dab589 52 bool pushF=false;
nodoame 1:a3bfd422ea9e 53
nodoame 5:428b7ac86810 54 void num()//割り込まれたら7回受信
nodoame 0:dc587be179e9 55 {
nodoame 0:dc587be179e9 56 if(Dev.getc()==114){
nodoame 0:dc587be179e9 57 //printf("ReceiveCommand\r\n");
nodoame 0:dc587be179e9 58 for(int i = 0 ;i<N ;i++ )
nodoame 0:dc587be179e9 59 {
nodoame 0:dc587be179e9 60 DATA[i]=Dev.getc();
nodoame 0:dc587be179e9 61 }
nodoame 0:dc587be179e9 62 }
nodoame 11:1ca2498815c9 63 stopCounter=0;
nodoame 0:dc587be179e9 64 }
nodoame 0:dc587be179e9 65
nodoame 0:dc587be179e9 66 bool getBt(int num)
nodoame 0:dc587be179e9 67 {
nodoame 0:dc587be179e9 68 return (DATA[0]>>num)%2;
nodoame 0:dc587be179e9 69 }
nodoame 0:dc587be179e9 70
nodoame 5:428b7ac86810 71 bool getPress(int num)
nodoame 5:428b7ac86810 72 {
nodoame 5:428b7ac86810 73 return (DATA[6]>>num)%2;
nodoame 5:428b7ac86810 74 }
nodoame 5:428b7ac86810 75
nodoame 0:dc587be179e9 76 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 77 {
nodoame 0:dc587be179e9 78 if(abs((int)(y-128))<threshold)
nodoame 0:dc587be179e9 79 y=128;
nodoame 0:dc587be179e9 80 if(abs((int)(x-128))<threshold)
nodoame 0:dc587be179e9 81 x=128;
nodoame 0:dc587be179e9 82 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 83 }
nodoame 0:dc587be179e9 84
nodoame 20:373fa71ce05b 85 int devidePoint(double y,double x,int threshold,float devide)
nodoame 0:dc587be179e9 86 {
nodoame 0:dc587be179e9 87 double tempX,tempY,dev;//仮のX,Yと分けた角度
nodoame 0:dc587be179e9 88 tempX=(x-128);tempY=(y-128);//それぞれ-128
nodoame 0:dc587be179e9 89 if(abs((int)tempY)<threshold)//しきい値以下なら０にする
nodoame 0:dc587be179e9 90 tempY=0;
nodoame 0:dc587be179e9 91 if(abs((int)tempX)<threshold)
nodoame 0:dc587be179e9 92 tempX=0;
nodoame 0:dc587be179e9 93 if(tempX==0&&tempY==0)
nodoame 0:dc587be179e9 94 dev=360;
nodoame 0:dc587be179e9 95 //printf("X:%lfY:%lfDev:%lf\r\n",tempX,tempY,dev);
nodoame 0:dc587be179e9 96 else
nodoame 27:cc853efb663c 97 dev=atan2(tempX,(isXBOX)?(tempY):(-tempY))/M_PI*180;//軸を逆にして代入、Y軸反転
nodoame 0:dc587be179e9 98 return ((dev<0)?(dev+360):(dev))/devide;//分割
nodoame 0:dc587be179e9 99 }
nodoame 0:dc587be179e9 100
nodoame 4:bae4e2d103d4 101 int valueForMechanum(int deg,int devide,bool triL,bool triR,bool btSpd)
nodoame 0:dc587be179e9 102 {
nodoame 0:dc587be179e9 103 bool stpFlag=false,spnFlag=false;//ストップフラグ、スピンフラグ
nodoame 0:dc587be179e9 104 int val=0,i;//値、For用
nodoame 0:dc587be179e9 105 for(i=0;i<6;i++){
nodoame 0:dc587be179e9 106 switch(i){
nodoame 0:dc587be179e9 107 case 0:
nodoame 4:bae4e2d103d4 108 if(deg!=devide||(triL||triR))//スピンかニュートラル以外なら
nodoame 0:dc587be179e9 109 val=1;
nodoame 0:dc587be179e9 110 else
nodoame 0:dc587be179e9 111 stpFlag=true;//ストップ
nodoame 0:dc587be179e9 112 break;
nodoame 0:dc587be179e9 113
nodoame 0:dc587be179e9 114 case 1:
nodoame 0:dc587be179e9 115 if(stpFlag)
nodoame 4:bae4e2d103d4 116 val++;
nodoame 0:dc587be179e9 117 else
nodoame 0:dc587be179e9 118 val+=btSpd;//スピード
nodoame 0:dc587be179e9 119 break;
nodoame 0:dc587be179e9 120
nodoame 0:dc587be179e9 121 case 2:
nodoame 0:dc587be179e9 122 if(triL||triR){//トリガーのどちらかがONなら
nodoame 0:dc587be179e9 123 val++;
nodoame 0:dc587be179e9 124 spnFlag=true;//スピンフラグON
nodoame 0:dc587be179e9 125 }
nodoame 0:dc587be179e9 126 break;
nodoame 0:dc587be179e9 127
nodoame 0:dc587be179e9 128 case 5:
nodoame 4:bae4e2d103d4 129 val=val<<2;//5bit目から7bit目へ
nodoame 0:dc587be179e9 130 if(spnFlag)//トリガーのどちらかの値
nodoame 0:dc587be179e9 131 val+=(triL)?1:0;
nodoame 4:bae4e2d103d4 132 else if(!stpFlag)//ジョイスティックの値
nodoame 0:dc587be179e9 133 val+=deg;
nodoame 0:dc587be179e9 134 break;
nodoame 0:dc587be179e9 135 }
nodoame 0:dc587be179e9 136 if(i<5)
nodoame 0:dc587be179e9 137 val=val<<1;
nodoame 0:dc587be179e9 138 }
nodoame 0:dc587be179e9 139 //printf("val:%ddeg:%dtrigL:%dtrigR:%dbtSp:%d\r\n",val,deg,triL,triR,btSpd);
nodoame 0:dc587be179e9 140 return val;
nodoame 0:dc587be179e9 141 }
nodoame 0:dc587be179e9 142
nodoame 20:373fa71ce05b 143 bool detectPole(int scVector)
nodoame 0:dc587be179e9 144 {
nodoame 15:c941d06092ec 145 int vector=TD,laser=0;
nodoame 20:373fa71ce05b 146 bool btFlag=false,canFlag=false,breakFlag=false,stopFlag=false;
nodoame 4:bae4e2d103d4 147 Blue=0.0f;Green=0.0f,Red=0.8f;
nodoame 0:dc587be179e9 148 while(true)
nodoame 20:373fa71ce05b 149 {
nodoame 20:373fa71ce05b 150 if((getBt(btTri)&&getBt(btSph)&&canFlag)||breakFlag)
nodoame 20:373fa71ce05b 151 return breakFlag;
nodoame 20:373fa71ce05b 152 else if(!(getBt(btTri)&&getBt(btSph)))
nodoame 20:373fa71ce05b 153 canFlag=true;
nodoame 20:373fa71ce05b 154
nodoame 14:aaf2ae25e508 155 //スイッチが押された時
nodoame 20:373fa71ce05b 156 if(((int)DATA[1]&12)==12&&!btFlag){
nodoame 5:428b7ac86810 157 wait(0.001f);
nodoame 5:428b7ac86810 158 Mechanum.putc(64);
nodoame 4:bae4e2d103d4 159 btFlag=true;
nodoame 20:373fa71ce05b 160 Blue=0;Green=0.8;Red=0;
nodoame 15:c941d06092ec 161 vector=scVector;
nodoame 14:aaf2ae25e508 162 }
nodoame 11:1ca2498815c9 163
nodoame 15:c941d06092ec 164 //片方のレーザーが反応したとき
nodoame 20:373fa71ce05b 165 if(btFlag&&!laser){
nodoame 20:373fa71ce05b 166 if(!(((int)DATA[1]&2)==2)){
nodoame 15:c941d06092ec 167 laser=1;
nodoame 20:373fa71ce05b 168 Red=0.8;
nodoame 15:c941d06092ec 169 vector=0;
nodoame 15:c941d06092ec 170 }
nodoame 20:373fa71ce05b 171 else if(!(((int)DATA[1]&1)==1)){
nodoame 15:c941d06092ec 172 laser=2;
nodoame 20:373fa71ce05b 173 Red=0.8;
nodoame 15:c941d06092ec 174 vector=0;
nodoame 9:489a085d1703 175 }
nodoame 9:489a085d1703 176 }
nodoame 15:c941d06092ec 177
nodoame 15:c941d06092ec 178 //もう片方のレーザーが反応した時
nodoame 20:373fa71ce05b 179 else if(!(((int)DATA[1]&laser)==laser)&&laser&&!stopFlag){
nodoame 20:373fa71ce05b 180 Green=0;Red=0.8;Blue=0.8;
nodoame 20:373fa71ce05b 181 vector=64;
nodoame 20:373fa71ce05b 182 stopFlag=true;
nodoame 20:373fa71ce05b 183 wait(0.05);
nodoame 20:373fa71ce05b 184 }
nodoame 20:373fa71ce05b 185 //ストップ後
nodoame 20:373fa71ce05b 186 else if(stopFlag)
nodoame 20:373fa71ce05b 187 {
nodoame 20:373fa71ce05b 188 vector=162;
nodoame 20:373fa71ce05b 189 breakFlag=true;
nodoame 0:dc587be179e9 190 }
nodoame 4:bae4e2d103d4 191
nodoame 15:c941d06092ec 192 //pc.printf("%d\r\n",DATA[1]);
nodoame 20:373fa71ce05b 193 //deg=devidePoint((double)DATA[3],(double)DATA[2],15,360/devideNum);
nodoame 20:373fa71ce05b 194 //pc.printf("%d\r\n",scVector);
nodoame 0:dc587be179e9 195 Mechanum.putc(vector);
nodoame 20:373fa71ce05b 196 wait(0.0126f);
nodoame 0:dc587be179e9 197 }
nodoame 4:bae4e2d103d4 198 btFlag=false;
nodoame 5:428b7ac86810 199 Blue=0;Green=0;Red=0;
nodoame 0:dc587be179e9 200 }
nodoame 0:dc587be179e9 201
nodoame 0:dc587be179e9 202
nodoame 5:428b7ac86810 203 bool shotToDenziben(char reg, char data ,int size,int addr)
nodoame 0:dc587be179e9 204 {
nodoame 5:428b7ac86810 205 char REG[2] = {reg,size};
nodoame 5:428b7ac86810 206 char DATA[2]={data,0};
nodoame 5:428b7ac86810 207 bool A = i2c.write(addr,REG,2);
nodoame 5:428b7ac86810 208 A|= i2c.write(addr,DATA,size);
nodoame 1:a3bfd422ea9e 209 return A;
nodoame 0:dc587be179e9 210 }
nodoame 0:dc587be179e9 211
nodoame 5:428b7ac86810 212 char getshot(char reg)
nodoame 5:428b7ac86810 213 {
nodoame 5:428b7ac86810 214 char input=0;
nodoame 5:428b7ac86810 215 char DATA[2] = {reg,1};
nodoame 5:428b7ac86810 216 i2c.write(airAddr,DATA,2);
nodoame 5:428b7ac86810 217 wait(0.005f);
nodoame 5:428b7ac86810 218 i2c.read(airAddr,&input,1);
nodoame 5:428b7ac86810 219 return input;
nodoame 5:428b7ac86810 220 }
nodoame 5:428b7ac86810 221
nodoame 12:6445a3c3d34c 222 void setFCLED(double RED,double GREEN,double BLUE)
nodoame 12:6445a3c3d34c 223 {
nodoame 12:6445a3c3d34c 224 Red=RED;
nodoame 12:6445a3c3d34c 225 Green=GREEN;
nodoame 12:6445a3c3d34c 226 Blue=BLUE;
nodoame 12:6445a3c3d34c 227 }
nodoame 12:6445a3c3d34c 228
nodoame 4:bae4e2d103d4 229 int main() {
nodoame 0:dc587be179e9 230 pc.baud(230400);
nodoame 25:caa4d20d6c40 231 //Dev.baud(921600);//PS3
nodoame 27:cc853efb663c 232 //Dev.baud(57600);//XBOX
nodoame 29:9cfd082de61e 233 Dev.baud((isXBOX)?(XBOXrate):(921600));
nodoame 0:dc587be179e9 234 Mechanum.baud(230400);
nodoame 5:428b7ac86810 235 DigitalIn bt(USER_BUTTON);
nodoame 0:dc587be179e9 236 Dev.attach(num,Serial::RxIrq);//受信割り込み設定
nodoame 1:a3bfd422ea9e 237 Green=0;Blue=0;Red=0;
nodoame 12:6445a3c3d34c 238 double gValue=0,bValue=0,rValue=0;
nodoame 3:c290afbacd1c 239 DigitalOut l(PB_2);
nodoame 30:0226cfd4965a 240 DigitalOut l2(PB_1);
nodoame 3:c290afbacd1c 241 int sqf=0;
nodoame 20:373fa71ce05b 242 double deg=32;
nodoame 0:dc587be179e9 243 int val;
nodoame 1:a3bfd422ea9e 244 i2c.frequency(400000);
nodoame 12:6445a3c3d34c 245 setFCLED(0,0.8,0.8);
nodoame 23:d5f7e3dab589 246 bool obonFlag=false,pLeftF=false,pRightF=false,btCrF=false,detFinF=false,touchSF=false;
nodoame 0:dc587be179e9 247
nodoame 0:dc587be179e9 248 while(true)
nodoame 12:6445a3c3d34c 249 {
nodoame 23:d5f7e3dab589 250 /* //ポール検出モード
nodoame 0:dc587be179e9 251 if(getBt(btTri)&&getBt(btSph)){
nodoame 20:373fa71ce05b 252 if(deg>devideNum-1);
nodoame 20:373fa71ce05b 253 else if(deg<17){
nodoame 20:373fa71ce05b 254 //pc.printf("R\r\n");
nodoame 20:373fa71ce05b 255 detFinF=detectPole(TNR);
nodoame 20:373fa71ce05b 256 }
nodoame 20:373fa71ce05b 257 else{
nodoame 20:373fa71ce05b 258 //pc.printf("L\r\n");
nodoame 20:373fa71ce05b 259 detFinF=detectPole(TNL);
nodoame 20:373fa71ce05b 260 }
nodoame 23:d5f7e3dab589 261 }*/
nodoame 5:428b7ac86810 262
nodoame 23:d5f7e3dab589 263 do{
nodoame 23:d5f7e3dab589 264 bool l=getBt(btL),r=getBt(btR),t=getBt(btTri);
nodoame 23:d5f7e3dab589 265 if(!l&&!r&&!t)
nodoame 23:d5f7e3dab589 266 pushF=false;
nodoame 23:d5f7e3dab589 267 if(pushF||!obonFlag)
nodoame 23:d5f7e3dab589 268 break;
nodoame 23:d5f7e3dab589 269
nodoame 23:d5f7e3dab589 270 //射出
nodoame 23:d5f7e3dab589 271 if(l){
nodoame 24:ee0943b12feb 272 //pc.printf("L\r\n");
nodoame 23:d5f7e3dab589 273 pushF=true;
nodoame 23:d5f7e3dab589 274 kRed=shotToDenziben(airReg,1,1,airAddr);
nodoame 23:d5f7e3dab589 275 wait(shotWait);
nodoame 23:d5f7e3dab589 276 kRed=shotToDenziben(airReg,0,1,airAddr);
nodoame 31:d9c70bcdb54e 277 /*wait(0.1);
nodoame 31:d9c70bcdb54e 278 kRed=shotToDenziben(airReg,2,1,airAddr2);*/
nodoame 23:d5f7e3dab589 279 kRed=0;
nodoame 23:d5f7e3dab589 280 }
nodoame 23:d5f7e3dab589 281
nodoame 23:d5f7e3dab589 282 //射出
nodoame 23:d5f7e3dab589 283 else if(r){
nodoame 24:ee0943b12feb 284 //pc.printf("R\r\n");
nodoame 23:d5f7e3dab589 285 pushF=true;
nodoame 30:0226cfd4965a 286 kRed=shotToDenziben(airReg,6,1,airAddr);
nodoame 23:d5f7e3dab589 287 wait(shotWait);
nodoame 23:d5f7e3dab589 288 kRed=shotToDenziben(airReg,0,1,airAddr);
nodoame 23:d5f7e3dab589 289 //printf("shot:%d\r\n",i2cS=i2c.write(airAddr,cmd,2));
nodoame 23:d5f7e3dab589 290 //i2c.write(airAddr,cmd,2);
nodoame 23:d5f7e3dab589 291 kRed=0;
nodoame 23:d5f7e3dab589 292 }
nodoame 23:d5f7e3dab589 293
nodoame 31:d9c70bcdb54e 294 /*//射出
nodoame 23:d5f7e3dab589 295 else if(t){
nodoame 24:ee0943b12feb 296 //pc.printf("T\r\n");
nodoame 23:d5f7e3dab589 297 pushF=true;
nodoame 23:d5f7e3dab589 298 kRed=shotToDenziben(airReg,4,1,airAddr);
nodoame 23:d5f7e3dab589 299 wait(shotWait);
nodoame 23:d5f7e3dab589 300 kRed=shotToDenziben(airReg,0,1,airAddr);
nodoame 23:d5f7e3dab589 301 kRed=0;
nodoame 31:d9c70bcdb54e 302 }*/
nodoame 23:d5f7e3dab589 303
nodoame 23:d5f7e3dab589 304 }while(false);
nodoame 3:c290afbacd1c 305
nodoame 5:428b7ac86810 306 //レーザーポインタ
nodoame 3:c290afbacd1c 307 if(getBt(btSqa)&&sqf){
nodoame 3:c290afbacd1c 308 sqf=0;
nodoame 3:c290afbacd1c 309 l=!l;
nodoame 4:bae4e2d103d4 310 kBlue=!kBlue;
nodoame 0:dc587be179e9 311 }
nodoame 3:c290afbacd1c 312 else if(!getBt(btSqa))
nodoame 3:c290afbacd1c 313 sqf=1;
nodoame 3:c290afbacd1c 314
nodoame 22:ab619079fb8d 315 //タッチセンサ
nodoame 23:d5f7e3dab589 316 if(((int)DATA[1]&12)==12&&!touchSF){
nodoame 23:d5f7e3dab589 317 touchSF=true;
nodoame 30:0226cfd4965a 318 l2=1;
nodoame 24:ee0943b12feb 319 gValue=0.5;
nodoame 20:373fa71ce05b 320 }
nodoame 24:ee0943b12feb 321 else if(!(((int)DATA[1]&12)==12)){
nodoame 23:d5f7e3dab589 322 touchSF=false;
nodoame 30:0226cfd4965a 323 l2=0;
nodoame 24:ee0943b12feb 324 gValue=0;
nodoame 23:d5f7e3dab589 325 }
nodoame 20:373fa71ce05b 326 //お盆回し
nodoame 20:373fa71ce05b 327 if(getPress(presUp)){
nodoame 24:ee0943b12feb 328 //pc.printf("L\r\n");
nodoame 20:373fa71ce05b 329 obonFlag=true;
nodoame 22:ab619079fb8d 330 Mechanum.putc(162);
nodoame 24:ee0943b12feb 331 rValue=0.5;
nodoame 20:373fa71ce05b 332 kRed=0;
nodoame 22:ab619079fb8d 333 wait(0.2);
nodoame 20:373fa71ce05b 334 }
nodoame 20:373fa71ce05b 335 else if(getPress(presDown)){
nodoame 22:ab619079fb8d 336 Mechanum.putc(163);
nodoame 23:d5f7e3dab589 337 rValue=0;
nodoame 20:373fa71ce05b 338 obonFlag=false;
nodoame 20:373fa71ce05b 339 kRed=0;
nodoame 22:ab619079fb8d 340 wait(0.2);
nodoame 22:ab619079fb8d 341 }
nodoame 19:cd036cc40a2d 342
nodoame 28:37147ae0df52 343 deg=devidePoint((double)DATA[3],(double)DATA[2],30,360/devideNum);
nodoame 23:d5f7e3dab589 344
nodoame 20:373fa71ce05b 345 if(getPress(btSel)||(detFinF&&deg!=devideNum)){
nodoame 20:373fa71ce05b 346 detFinF=false;
nodoame 20:373fa71ce05b 347 Mechanum.putc(163);
nodoame 20:373fa71ce05b 348 wait(0.1);
nodoame 19:cd036cc40a2d 349 }
nodoame 20:373fa71ce05b 350 else {
nodoame 20:373fa71ce05b 351 val=valueForMechanum(deg,devideNum,getBt(trigL),getBt(trigR),getBt(btSph));
nodoame 19:cd036cc40a2d 352 }
nodoame 20:373fa71ce05b 353
nodoame 11:1ca2498815c9 354
nodoame 11:1ca2498815c9 355 //一定時間通信してないと停止
nodoame 11:1ca2498815c9 356 if(stopCounter>stopCount)
nodoame 11:1ca2498815c9 357 val=64;
nodoame 11:1ca2498815c9 358 else
nodoame 11:1ca2498815c9 359 stopCounter++;
nodoame 0:dc587be179e9 360 Mechanum.putc(val);
nodoame 24:ee0943b12feb 361 //bValue=0.8;
nodoame 12:6445a3c3d34c 362 setFCLED(rValue,gValue,bValue);
nodoame 0:dc587be179e9 363 wait(0.03f);
nodoame 11:1ca2498815c9 364 do{
nodoame 11:1ca2498815c9 365 if(!debugFlag)
nodoame 11:1ca2498815c9 366 break;
nodoame 20:373fa71ce05b 367 //pc.printf("%d\r\n",DATA[6]);
nodoame 20:373fa71ce05b 368 //if(getPress(btSel))
nodoame 20:373fa71ce05b 369 // pc.printf("up\r\n");
nodoame 27:cc853efb663c 370 //pc.printf("deg:%d\r\n",deg);
nodoame 11:1ca2498815c9 371 //printf("%lf:%d:%d\r\n",deg,(int)DATA[3],(int)DATA[2]);
nodoame 11:1ca2498815c9 372 //printf("%d\r\n",(int)DATA[0]);
nodoame 11:1ca2498815c9 373 //pc.printf("DATA[1]%d\r\n",(int)(DATA[1]&0x02));
nodoame 11:1ca2498815c9 374 //printf("deg:%lfX1:%d:bt%ddeg:%lfval:%d\r\n",deg,(int)DATA[1],getBt(btSqa),deg,val);
nodoame 20:373fa71ce05b 375 //pc.printf("%lf\r\n",deg);
nodoame 11:1ca2498815c9 376 }while(false);
nodoame 0:dc587be179e9 377 }
nodoame 0:dc587be179e9 378 }