File content as of revision 50:8ea4714316ce:

/**
 * This program is written in main micro computer "mbed" for 2015 NHK Robot Contest (Bteam).
 */

//速度コントローラと向きコントローラはそのまま

//#define BLUE
#define RED

#if defined(BLUE) && defined(RED)
#error Caution, You should define either BLUE or RED
#endif

#include "machine_ps3.h"

Serial pc(USBTX, USBRX);
//LocalFileSystem local("local");

int main()
{
    initializeSBDBT();
    initializeMotors();
    initializeControllers();
    initializeSwing();
#ifdef BLUE
    sita=PI/4.0,targ_sita=PI/4.0;
#else
    sita=-PI/4.0,targ_sita=-PI/4.0;
#endif
    Indicator4=1;
    Enable=1;
//    FILE *fp_r = fopen("/local/velocity.dat", "w");
    /*sendData(4,31);
    wait(0.1);
    sendData(5,31);*/
//    double time=0.0;
    while(1) {
        if(autoflag){
            autoPs3(); /*ps3 button*/
#ifdef BLUE
            //Blue
            if((step==0)&&((8650.0>x)&&(x>1400.0))) targ_sita=0.0,step=1;
            if((step==1)&&(x>8650.0)) targ_velocity=-speed,step=2;
            if((step==2)&&(x<2000.0)) targ_sita=PI/4,step=3;
            if((step==3)&&(x<10.0)) targ_velocity=0.0,step=4;
            
            if((x>3344.0)&&(CStep==1)) CStep=2,sendData(1,1);
            if((x>6234.0)&&(CStep==2)) CStep=3,sendData(1,2);
            if((x>7885.0)&&(CStep==3)) CStep=4,sendData(1,3);
            if((x<6300.0)&&(CStep==4)) CStep=5,sendData(1,5);
            if((x<5900.0)&&(CStep==5)) CStep=6,sendData(1,4);
#else
            //Red
            if((step==0)&&((8650.0>x)&&(x>1400.0))) targ_sita=0.0,step=1;
            if((step==1)&&(x>8650.0)) targ_velocity=-speed,step=2;
            if((step==2)&&(x<2000.0)) targ_sita=-PI/4,step=3;
            if((step==3)&&(x<10.0)) targ_velocity=0.0,step=4;
            
            if((x>3344.0)&&(CStep==1)) CStep=2,sendData(1,1);
            if((x>6234.0)&&(CStep==2)) CStep=3,sendData(1,3);
            if((x>7885.0)&&(CStep==3)) CStep=4,sendData(1,2);
            if((x<6074.0)&&(CStep==4)) CStep=5,sendData(1,4);
            if((x<5574.0)&&(CStep==5)) CStep=6,sendData(1,5);
//            pc.printf("sita:%f, x:%f, y:%f ,x1:%f, x2:%f ,velocity:%f\r\n",sita,x,y,x1,x2,velocity);
#endif            
            move_following();
//            pc.printf("sita:%f, x:%f, y:%f ,x1:%f, x2:%f ,velocity:%f\r\n",sita,x,y,x1,x2,velocity);
//            pc.printf("r:%ld, l:%ld\r\n",Move_r_sense.getPulses(),Move_l_sense.getPulses());
        }
        else if(!autoflag) {
            manualMovePs3(); /*analogStick*/
            manualPs3();     /*ps3 button*/
            //Swing
            swingFollowing();
            /*if(square){
                IndicatorAuto=0;
                fclose(fp_r);
            }
            fprintf(fp_r, "time:%1.3f, %f[rad/s], pwm:%f\r\n",time,swingRadVelocity,cont);
            time+=0.01;*/
        }
        /***update state***/
        mesure_state();
        mesureSwing();
        wait(RATE);
        
        pc.printf("%f %f\r\n",cont,swingRadVelocity);
    }
}