2015_robocon_bteam / Mbed 2 deprecated 2015robot_main

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   PID QEI mbed

Fork of 2015robot_main by Naoto Deguchi

main_ps3.cpp

Committer:
DeguNaoto
Date:
2015-10-12
Revision:
84:919a335ac81e
Parent:
83:e1638c58e1f1
Child:
85:dd18a2d79956

File content as of revision 84:919a335ac81e:

/**
 * 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
//大和田にPIC1のシリンダの信号をタイマーで書かせる
//回転機構wait PI/4 追加で待つ
//射出をスキップする機能を追加
//スタートゾーンにマシンを戻した後に暴走しないようにする
//手動時の操作性の改善
//一度手動モードになったらスタートゾーンに戻るまで再び自動モードにならないようにする
//flagfで前進・後退切り替え
//大和田射角
//午後に一定回転制御の実験

/***コース選択***/
#define BLUE
//#define RED

/***コントローラ選択***/
//#define IM920
#define PS3

/***回転機構測定***/
//#define MESURE

#if defined(IM920) && defined(PS3)
#error Caution, You should define either IM920 or PS3
#endif

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

#include "machine_ps3.h"

Serial pc(USBTX, USBRX);
#ifdef MESURE
LocalFileSystem local("local");
#endif
Timeout MStop;

void Restart(){
    if(step==10) step=11;
}

int main() {
#ifdef IM920
    initializeIM920();
#else
    initializeSBDBT();
#endif
    initializeMotors();
    initializeControllers();
    initializeSwing();
    initializeRS485();
#ifdef BLUE
    sita=PI/4.0,targ_sita=PI/4.0;
    IndicatorBLUE = 1;
#else
    sita=-PI/4.0,targ_sita=-PI/4.0;
    IndicatorRED = 1;
#endif
    Indicator4=1;
    Enable=1;
#ifdef MESURE
    FILE *fp_r = fopen("/local/velocity.dat", "w");
    double time=0.0;
#endif
    wait(0.3);
    sendData(7,255);
    while(1) {
        if(autoflag){
#ifdef IM920
            autoIM920(); /*IM920 button*/
#else
            autoPS3();   /*PS3 button*/
#endif
#ifdef BLUE
            //Blue            
            /********************************Nomal Mode*********************************/
            if((step==0)&&((8650.0>x)&&(x>850.0))) {
                targ_sita=0.08;
                step=1;
            }
            if((step==1)&&(x>8600.0)) {
                targ_velocity=0.0;
                step=2;
            }
            if((step==2)&&(abs(velocity)<1000.0)) {
                step=3;
                targ_velocity=speed;
                flagf=0;
                targ_sita=0.07;
            }
            if((step==3)&&(x<1950.0)) {
                targ_sita=PI/4;
                step=4;
                sendData(7,255);
            }
            if((step==4)&&(x<-100.0)) {
                targ_velocity=0.0;
                step=114;
            }
            /***Cylinder***/
            if((x>2950.0)&&(CStep==1)) { /*nomal*/
                if(!skip) sendData(1,1);
                CStep=2; 
            }
            if((x>5880.0)&&(CStep==2)) {
                if(!skip) sendData(1,2);
                CStep=3;
            }
            if((x>7600.0)&&(CStep==3)) {
                if(!skip) sendData(1,3);
                CStep=4;
            }
            if((x<6600.0)&&(CStep==4)) {
                if(!skip) sendData(1,5);
                CStep=5;
            }
            if((x<6100.0)&&(CStep==5)) {
                if(!skip) sendData(1,4);
                CStep=114;
            }
            /////////////////////////////////////////////////////////////////////////
            /******************************Middle Mode******************************/
            if((step==5)&&((5700.0>x)&&(x>800.0))) {
                targ_sita=0.08;
                step=6;
            }
            if((step==6)&&(x>7000.0)){
                targ_velocity=0.0;
                step=7;
            }
            if((step==7)&&(abs(velocity)<1000.0)) {
                flagf=0;
                targ_velocity=speed;
                targ_sita=0.07;
                step=8;
            }
            if((step==8)&&(x<1900.0)) {
                targ_sita=PI/4;
                step=9;
                sendData(7,255);
            }
            if((step==9)&&(x<-100.0)) {
                targ_velocity=0.0;
                step=114;
            }
            
            if((x>4850.0)&&(CStep==6)){
                sendData(1,5);
                CStep=7;
            }
            if((x>5350.0)&&(CStep==7)){
                sendData(1,4);
                CStep=114;
            }
            /////////////////////////////////////////////////////////////////////////
            /*****************************Opponents Mode****************************/
            if((step==15)&&((5700.0>x)&&(x>50.0))) {
                targ_sita=0.03;
                step=16;
            }
            if((step==16)&&(x>2800.0)){
                targ_velocity=0.0;
                step=17;
            }
            if((step==17)&&(abs(velocity)<1000.0)){
                flagf=0;
                targ_velocity=speed;
                targ_sita=-0.07;
                step=18;
            }
            if((step==18)&&(x<-100.0)){
                targ_velocity=0.0;
                step=114;
                autoflag=0;
            }
            
            if((x>2700.0)&&(CStep==15)){
                sendData(1,5);
                CStep=114;
            }
            /////////////////////////////////////////////////////////////////////////
#else       
            //Red
            /********************************Nomal Mode*********************************/
            if((step==0)&&((8650.0>x)&&(x>800.0))) {
                targ_sita=-0.08;
                step=1; 
            }
            if((step==1)&&(x>8600.0)) {
                targ_velocity=0.0;
                step=2;
            }
            if((step==2)&&(abs(velocity)<1000.0)) {
                step=3;
                targ_velocity=speed;
                flagf=0;
                targ_sita=-0.07;
            }
            if((step==3)&&(x<1950.0)) {
                targ_sita=-PI/4;
                step=4;
                sendData(7,255);
            }
            if((step==4)&&(x<-100.0)) {
                targ_velocity=0.0;
                step=114;
            }
            
            if((x>2950.0)&&(CStep==1)) { 
                if(!skip) sendData(1,1);
                CStep=2;
            }
            if((x>5850.0)&&(CStep==2)) {
                if(!skip) sendData(1,3);
                CStep=3;
            }
            if((x>7600.0)&&(CStep==3)) {
                if(!skip) sendData(1,2);
                CStep=6;
            }
            if((x<6650.0)&&(CStep==4)) {
                if(!skip) sendData(1,4);
                CStep=5;
            }
            if((x<6130.0)&&(CStep==5)) {
                if(!skip) sendData(1,5);
                CStep=114;
            }
            /////////////////////////////////////////////////////////////////////////
            /******************************Middle Mode******************************/
            if((step==5)&&((5700.0>x)&&(x>800.0))) { 
                targ_sita=-0.08;
                step=6; 
            }
            if((step==6)&&(x>7000.0)){
                targ_velocity=0.0;
                step=7;
            }
            if((step==7)&&(abs(velocity)<1000.0)) {
                flagf=0;
                targ_velocity=speed;
                targ_sita=-0.07;
                step=8;
            }
            if((step==8)&&(x<1900.0)) {
                targ_sita=-PI/4;
                step=9;
                sendData(7,255);
            }
            if((step==9)&&(x<-100.0)) {
                targ_velocity=0.0;
                step=114;
                autoflag=0;
            }
            
            if((x>4850.0)&&(CStep==6)){
                sendData(1,4);
                CStep=7;
            }
            /////////////////////////////////////////////////////////////////////////
            /*****************************Opponents Mode****************************/
            if((step==15)&&((5700.0>x)&&(x>50.0))) {
                targ_sita=-0.08;
                step=16;
            }
            if((step==16)&&(x>2800.0)){
                targ_velocity=0.0;
                step=17;
            }
            if((step==17)&&(abs(velocity)<1000.0)){
                flagf=0;
                targ_vellocity=speed;
                targ_sita=-0.07;
                step=18;
            }
            if((step==18)&&(x<-100.0)){
                targ_velocity=0.0;
                step=114;
                autoflag=0;
            }
            
            if((x>2700.0)&&(CStep==15)){
                sendData(1,4);
                CStep=114;
            }
            /////////////////////////////////////////////////////////////////////////
#endif
            mesure_state();   /*位置測定*/
            move_following(); /*移動制御*/
        }
        else if(!autoflag) {
            resetState();
#ifdef IM920
            manualMoveIM920(); /*analogStick*/
            manualIM920();     /*IM920 button*/
#else
            manualMovePS3();   /*analogStick*/
            manualPS3();       /*PS3 button*/
#endif
            //Swing
            swingFollowing();
#ifdef MESURE
            if(down){
                IndicatorAuto=0;
                fclose(fp_r);
            }
            fprintf(fp_r, "time:%1.3f, %f[rad/s], pwm:%f\r\n",time,swingRadVelocity,cont);
            time+=0.01;
#endif
        }
        /***update state***/ 
#ifdef IM920
        readIM920();
#endif
        mesureSwing();
        wait(RATE);

//        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\r\n",cont,swingRadVelocity);
    }
}