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.
Fork of 2015robot_main by
main_ps3.cpp
- Committer:
- DeguNaoto
- Date:
- 2015-09-24
- Revision:
- 43:f9a75ecbe44e
- Parent:
- 42:4546283ed5d4
- Child:
- 45:e11ec4f6d37e
File content as of revision 43:f9a75ecbe44e:
/** * 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 #include "machine_ps3.h" Serial pc(USBTX, USBRX); int main() { initializeSBDBT(); initializeMotors(); initializeControllers(); initializeEsaka(); #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; while(1) { if(autoflag){ autoPs3(); #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>3804.0)&&(CStep==1)) CStep=2,sendData(1,1); if((x>5824.0)&&(CStep==2)) CStep=3,sendData(1,2); if((x>7885.0)&&(CStep==3)) CStep=4,sendData(1,3); if((x<6074.0)&&(CStep==4)) CStep=5,sendData(1,5); if((x<5574.0)&&(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>3804.0)&&(CStep==1)) CStep=2,sendData(1,1); if((x>5824.0)&&(CStep==2)) CStep=3,sendData(1,2); if((x>7885.0)&&(CStep==3)) CStep=4,sendData(1,3); if((x<6074.0)&&(CStep==4)) CStep=5,sendData(1,5); if((x<5574.0)&&(CStep==5)) CStep=6,sendData(1,4); 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(); manualPs3(); } /***update state***/ mesure_state(); wait(RATE); } }