2015_robocon_bteam
/
2015robot_main
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Fork of
2015robot_main
by 
Naoto Deguchi
Diff: main_ps3.cpp
- Revision:
- 101:b67d33e56b66
- Parent:
- 100:5769dc0e7478
- Child:
- 102:e483c7453f52
- Child:
- 103:ffd3ca4a7a71
--- a/main_ps3.cpp Fri Oct 16 10:58:18 2015 +0000
+++ b/main_ps3.cpp Sat Oct 17 06:04:49 2015 +0000
@@ -15,8 +15,8 @@
//モード切替時に時間を待つ
/***コース選択***/
-//#define BLUE
-#define RED
+#define BLUE
+//#define RED
/***コントローラ選択***/
#define IM920
@@ -39,8 +39,8 @@
#ifdef MESURE
LocalFileSystem local("local");
#endif
+
Timeout MStop;
-
void Restart(){
if(step==10) step=11;
}
@@ -85,7 +85,7 @@
}
/********************************Nomal Mode*********************************/
if((step==0)&&((8650.0>x)&&(x>800.0))) {
- targ_sita=0.035;
+ targ_sita=0.025;
step=1;
}
if((step==1)&&(x>8600.0)) {
@@ -96,23 +96,22 @@
step=3;
spcount=0.0;
flagf=0;
- targ_sita=0.045;
+ targ_sita=0.035;
}
if((step==3)&&(x<2000.0)) {
targ_sita=PI/4;
step=4;
- sendData(7,255);
}
if((step==4)&&(x<0.0)) {
targ_velocity=0.0;
step=114;
}
/***Cylinder***/
- if((x>3100.0)&&(CStep==1)) {
+ if((x>3000.0)&&(CStep==1)) {
if(!skip) sendData(1,1);
CStep=2;
}
- if((x>5940.0)&&(CStep==2)) {
+ if((x>5890.0)&&(CStep==2)) {
if(!skip) sendData(1,3);
CStep=3;
}
@@ -120,18 +119,22 @@
if(!skip) sendData(1,2);
CStep=4;
}
- if((x<6700.0)&&(CStep==4)) {
+ if((x<6730.0)&&(CStep==4)) {
if(!skip) sendData(1,5);
CStep=5;
}
- if((x<6160.0)&&(CStep==5)) {
+ if((x<6170.0)&&(CStep==5)) {
if(!skip) sendData(1,4);
+ CStep=6;
+ }
+ if((x<4000.0)&&(CStep==6)){
+ sendData(7,255);
CStep=114;
}
/////////////////////////////////////////////////////////////////////////
/******************************Middle Mode******************************/
if((step==5)&&((5700.0>x)&&(x>800.0))) {
- targ_sita=0.035;
+ targ_sita=0.025;
step=6;
}
if((step==6)&&(x>7000.0)){
@@ -141,41 +144,47 @@
if((step==7)&&((velocity<500.0)&&(velocity>-500.0))){
flagf=0;
spcount=0.0;
- targ_sita=0.045;
+ targ_sita=0.035;
step=8;
}
if((step==8)&&(x<1900.0)) {
targ_sita=PI/4;
step=9;
- sendData(7,255);
}
if((step==9)&&(x<-10.0)) {
targ_velocity=0.0;
step=114;
}
- if((x>4620.0)&&(CStep==6)){
+ if((x>4620.0)&&(CStep==7)){
sendData(1,5);
- CStep=7;
+ CStep=8;
}
- if((x>5720.0)&&(CStep==7)){
+ if((x>5720.0)&&(CStep==8)){
sendData(1,4);
+ CStep=9;
+ }
+ if((x<4000.0)&&(CStep==9)){
+ sendData(7,255);
CStep=114;
}
/////////////////////////////////////////////////////////////////////////
/*****************************Opponents Mode****************************/
- if((step==15)&&((5700.0>x)&&(x>70.0))) {
- targ_sita=0.035;
+ if((step==15)&&((5700.0>x)&&(x>50.0))) {
+ targ_sita=0.025;
step=16;
}
- if((step==16)&&(x>2800.0)){
+// if((step==16)&&(x>3200.0)){
+ if((step==16)&&(x>2850.0)){
+// if((step==16)&&(x>1350.0)){
targ_velocity=0.0;
step=17;
}
- if((step==17)&&((velocity<500.0)&&(velocity>-500.0))){
+ if((step==17)&&((velocity<5000.0)&&(velocity>-5000.0))){
+// if((step==17)&&((velocity<10.0)&&(velocity>-10.0))){
flagf=0;
spcount=0.0;
- targ_sita=0.045;
+ targ_sita=0.035;
step=18;
}
if((step==18)&&(x<-100.0)){
@@ -184,14 +193,18 @@
step=114;
}
- if((x>950.0)&&(CStep==15)){
+ if((x>1350.0)&&(CStep==15)){
sendData(1,5);
CStep=16;
}
- if((x>2350.0)&&(CStep==16)){
+ if((x>2550.0)&&(CStep==16)){
sendData(1,4);
+ CStep=17;
+ }
+ /*if((x<1000.0)&&(CStep==17)){
+ sendData(7,255);
CStep=114;
- }
+ }*/
/////////////////////////////////////////////////////////////////////////
#else
//Red
@@ -200,8 +213,8 @@
targ_velocity=spcount;
}
/********************************Nomal Mode*********************************/
- if((step==0)&&((8650.0>x)&&(x>850.0))) {
- targ_sita=0.0;
+ if((step==0)&&((8650.0>x)&&(x>800.0))) {
+ targ_sita=-0.015;
step=1;
}
if((step==1)&&(x>8600.0)) {
@@ -212,9 +225,9 @@
step=3;
spcount=0.0;
flagf=0;
- targ_sita=0.0;
+ targ_sita=-0.02;
}
- if((step==3)&&(x<2000.0)) {
+ if((step==3)&&(x<2050.0)) {
targ_sita=-PI/4;
step=4;
sendData(7,255);
@@ -232,7 +245,7 @@
if(!skip) sendData(1,2);
CStep=3;
}
- if((x>7650.0)&&(CStep==3)) {
+ if((x>7550.0)&&(CStep==3)) {
if(!skip) sendData(1,3);
CStep=6;
}
@@ -340,7 +353,7 @@
#endif
mesureSwing();
wait(RATE);
-
+ pc.printf("%f\r\n",(float)((((2.0 * PI) / swingRadVelocity) / 4.0)));
// pc.printf("sita:%f, x:%f, y:%f ,x1:%f, x2:%f ,velocity:%f\r\n",sita,x,y,x1,x2,velocity);
// pc.printf("A2 = %d, X = %d, Y = %d, B = %d, dead = %d\r\n", a2, X, Y, b, deadflag);
// pc.printf("%f %f %f\r\n",cont,swingRadVelocity, (double)SwingSens.getPulses());
