2015_robocon_bteam
/
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.
Fork of
2015robot_main
by 
Naoto Deguchi
Revision 114:325e4c158141, committed 2015-10-27
- Comitter:
- DeguNaoto
- Date:
- Tue Oct 27 07:49:43 2015 +0000
- Parent:
- 113:ba121edf2588
- Commit message:
- ??????????; ????ver
Changed in this revision
--- a/autoMode.h Fri Oct 23 21:58:39 2015 +0000
+++ b/autoMode.h Tue Oct 27 07:49:43 2015 +0000
@@ -39,7 +39,9 @@
spcount=0.0;
// targ_velocity=speed;
#ifdef BLUE
- sendData(5,69); //right
+// sendData(5,69); //right
+// sendData(5,70); //right
+ sendData(5,71); //right
wait(0.05);
sendData(4,69); //left
stateR = 69;
@@ -74,8 +76,8 @@
sendData(5,59); //right
wait(0.05);
sendData(4,59); //left
- stateR = 61;
- stateL = 60;
+ stateR = 59;
+ stateL = 59;
#endif
wait(0.05);
step = 5;
@@ -115,32 +117,6 @@
// OpStart.attach(&OpponentsStart,2.0);
}
}
- /***Disturb***/
- /*else if(b==9){
- if(edge9){
- edge9=0;
- resetState();
- flagf=1;
- spcount=0.0;
-// targ_velocity=speed;
-#ifdef BLUE
- sendData(5,70); //right
- wait(0.05);
- sendData(4,70); //left
- stateR = 70;
- stateL = 70;
-#else
- sendData(5,70); //right
- wait(0.05);
- sendData(4,70); //left
- stateR = 70;
- stateL = 70;
-#endif
- wait(0.05);
- step = 50;
- flaga = 1;
- }
- }*/
else if(b==1){ /*L down*/
if(edge1){
edge1=0;
@@ -193,104 +169,128 @@
autoflag=0;
Indicator4=0;
IndicatorAuto=1;
- flaga = 0;
+ flaga=0;
+ Move_l(0.0);
+ Move_r(0.0);
}
}
- else if(up){ /*start*/
- if(edge_up){
- edge_up=0;
+ else if(triangle){ /*start*/
+ if(edge_triangle){
+ edge_triangle=0;
resetState();
flagf=1;
- targ_velocity=speed;
-// sendData(7,70);
- sendData(5,68);
- wait(0.1);
- sendData(4,68);
+ spcount=0.0;
+// targ_velocity=speed;
+#ifdef BLUE
+// sendData(5,69); //right
+ sendData(5,71); //right
+ wait(0.05);
+ sendData(4,69); //left
stateR = 69;
stateL = 69;
+#else
+ sendData(5,69); //right
+ wait(0.05);
+ sendData(4,69); //left
+ stateR = 69;
+ stateL = 69;
+#endif
+ wait(0.05);
step = 0;
CStep = 1;
flaga = 1;
}
}
- else if(right){ /*middle start*/
- if(edge_right){
- edge_right=0;
+ else if(square){ /*middle start*/
+ if(edge_square){
+ edge_square=0;
resetState();
flagf = 1;
- targ_velocity=speed;
- sendData(7,61);
- /*sendData(4,61);
- wait(0.1);
- sendData(5,58);*/
+ spcount=0.0;
+// targ_velocity=speed;
+#ifdef BLUE
+ sendData(5,60); //right
+ wait(0.05);
+ sendData(4,60); //left
+ stateR = 60;
+ stateL = 61;
+#else
+ sendData(5,59); //right
+ wait(0.05);
+ sendData(4,59); //left
stateR = 61;
- stateL = 61;
+ stateL = 60;
+#endif
+ wait(0.05);
step = 5;
- CStep = 6;
+ CStep = 7;
flaga = 1;
}
}
- else if(down){ /*opponents start*/
- if(edge_down){
- edge_down=0;
+ else if(cross){ /*opponents start*/
+ if(edge_cross){
+ edge_cross=0;
resetState();
- flagf = 1;
- targ_velocity = speed;
- sendData(7,70);
- stateR = 70;
- stateL = 70;
- step = 15;
- CStep = 15;
- flaga = 1;
+// targ_velocity = speed;
+#ifdef BLUE
+ sendData(5,69); //right
+ wait(0.05);
+ sendData(4,69); //left
+ stateR = 71;
+ stateL = 71;
+#else
+ /*sendData(5,66); //right
+ wait(0.05);
+ sendData(4,66); //left*/
+ /*sendData(4,71); //left
+ wait(0.05);
+ sendData(5,71); //right*/
+ sendData(4,73); //left
+ wait(0.05);
+ sendData(5,73); //right
+
+ stateR = 71;
+ stateL = 72;
+#endif
+ wait(0.05);
+ step=114;
+ CStep=114;
+ OpStart.attach(&OpponentsStart,2.2);
+// OpStart.attach(&OpponentsStart,2.0);
}
}
- else if(square){ /*reset*/
- sendData(7,255);
- }
- else if(cross){ /*stop*/
- Motor_swing=0;
-// sita=PI/4.0,x=0.0,y=0.0;
- targ_velocity=0.0;
-#ifdef BLUE
- targ_sita=PI/4.0;
-#else
- targ_sita=-PI/4.0;
-#endif
- velocity_controller.reset();
- direction_controller.reset();
- }
else if(l1){ /*L up*/
if(edge_l1){
edge_l1=0;
- if(stateL!=1) stateL--;
+ if(stateL!=92) stateL++;
sendData(4,stateL);
}
}
else if(l2){ /*L down*/
if(edge_l2){
edge_l2=0;
- if(stateL!=MAX_VALUE) stateL++;
+ if(stateL!=1) stateL--;
sendData(4,stateL);
}
}
else if(r1){ /*R up*/
if(edge_r1){
edge_r1=0;
- if(stateR!=1) stateR--;
+ if(stateR!=92) stateR++;
sendData(5,stateR);
}
}
else if(r2){ /*R down*/
if(edge_r2){
edge_r2=0;
- if(stateR!=MAX_VALUE) stateR++;
+ if(stateR!=1) stateR--;
sendData(5,stateR);
}
}
- if(triangle){
+ if(up){
skip = 1;
}
- else if(!triangle){
+ else if(!up){
skip = 0;
}
}
@@ -353,10 +353,12 @@
}
}
- if( abs(Vr) < 0.2 ) Vr = 0.0;
- if( abs(Vl) < 0.2 ) Vl = 0.0;
+// if( abs(Vr) < 0.2 ) Vr = 0.0;
+ if((Vr<0.2)&&(Vr>-0.2)) Vr = 0.0;
+// if( abs(Vl) < 0.2 ) Vl = 0.0;
+ if((Vl<0.2)&&(Vl>-0.2)) Vl = 0.0;
Move_r( ( float ) Vr );
Move_l( ( float ) Vl );
}
-#endif /*autoMode.h*/
\ No newline at end of file
+#endif /*autoMode.h*/
--- a/communicate.h Fri Oct 23 21:58:39 2015 +0000
+++ b/communicate.h Tue Oct 27 07:49:43 2015 +0000
@@ -218,6 +218,7 @@
short edge_left = 0;
short edge_up = 0;
short edge_down = 0;
+short edge_cross = 0;
short square = 0;
short triangle = 0;
short circle = 0;
@@ -277,6 +278,7 @@
if(!up) edge_up=1;
if(!square) edge_square=1;
if(!down) edge_down=1;
+ if(!cross) edge_cross=1;
}
///interrupt SBDBT RX.
inline void SBDBT_interrupt()
@@ -299,4 +301,4 @@
SBDBT.format(8, Serial::None, 1);
SBDBT.attach(SBDBT_interrupt, Serial::RxIrq);
}
-#endif
\ No newline at end of file
+#endif
--- a/machine_ps3.h Fri Oct 23 21:58:39 2015 +0000
+++ b/machine_ps3.h Tue Oct 27 07:49:43 2015 +0000
@@ -51,7 +51,7 @@
if(speed1<0) {
Move_r_Motor_CCW = 1;
Move_r_Motor_CW = 0;
- Move_r_Motor_PWM = abs(speed1);
+ Move_r_Motor_PWM = -speed1;
} else {
Move_r_Motor_CCW = 0;
Move_r_Motor_CW = 1;
@@ -64,7 +64,7 @@
if(speed2<0) {
Move_l_Motor_CCW = 1;
Move_l_Motor_CW = 0;
- Move_l_Motor_PWM = abs(speed2);
+ Move_l_Motor_PWM = -speed2;
} else {
Move_l_Motor_CCW = 0;
Move_l_Motor_CW = 1;
@@ -113,4 +113,4 @@
direction_controller.reset();
}
-#endif /*machine.h*/
\ No newline at end of file
+#endif /*machine.h*/
--- a/main_ps3.cpp Fri Oct 23 21:58:39 2015 +0000
+++ b/main_ps3.cpp Tue Oct 27 07:49:43 2015 +0000
@@ -16,6 +16,8 @@
//相手妨害モードいらない new!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
//赤チームモード、相手チーム側の射出位置調整
+short swingf=0;
+
/***コース選択***/
//#define BLUE
#define RED
@@ -123,11 +125,13 @@
if(!skip) sendData(1,2);
CStep=4;
}
- if((x<6650.0+deff)&&(CStep==4)) {
+// if((x<6650.0+deff)&&(CStep==4)) {
+ if((x<6580.0+deff)&&(CStep==4)) {
if(!skip) sendData(1,5);
CStep=5;
}
- if((x<6170.0+deff)&&(CStep==5)) {
+// if((x<6170.0+deff)&&(CStep==5)) {
+ if((x<6100.0+deff)&&(CStep==5)) {
if(!skip) sendData(1,4);
CStep=6;
}
@@ -327,8 +331,8 @@
/////////////////////////////////////////////////////////////////////////
/*****************************Opponents Mode****************************/
if((step==15)&&((5700.0>x)&&(x>50.0))) {
- targ_sita=-0.035;
-// targ_sita=-0.055;
+// targ_sita=-0.035;
+ targ_sita=-0.025;
step=16;
}
// if((step==16)&&(x>2800.0+deff)){
@@ -348,13 +352,13 @@
step=114;
}
- if((x>1350.0+deff)&&(CStep==15)){
-// if((x>1440.0+deff)&&(CStep==15)){
+// if((x>1350.0+deff)&&(CStep==15)){
+ if((x>1400.0+deff)&&(CStep==15)){
sendData(1,4);
CStep=16;
}
-// if((x>2750.0+deff)&&(CStep==16)){
- if((x>2650.0+deff)&&(CStep==16)){
+ if((x>2700.0+deff)&&(CStep==16)){
+// if((x>2650.0+deff)&&(CStep==16)){
// if((x>2850.0+deff)&&(CStep==16)){
sendData(1,5);
CStep=17;
@@ -398,7 +402,7 @@
manualPS3(); /*PS3 button*/
#endif
//Swing
- swingFollowing();
+ if(swingf) swingFollowing();
flaga=0;
#ifdef MESURE
if(down){
@@ -420,4 +424,4 @@
// 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());
}
-}
\ No newline at end of file
+}
--- a/manualMode.h Fri Oct 23 21:58:39 2015 +0000
+++ b/manualMode.h Tue Oct 27 07:49:43 2015 +0000
@@ -1,12 +1,15 @@
#ifndef MANUALMODE_H
#define MANUALMODE_H
+//赤修正
+
#ifdef IM920
void manualMoveIM920()
{
+#ifdef BLUE
if(Y<2) {
- Move_l(-0.65);
- Move_r(0.63);
+ Move_l(-0.6);
+ Move_r(0.6);
}
else if(Y>6) {
Move_l(0.6);
@@ -15,15 +18,37 @@
else {
if(X<2) {
Move_l(0.6);
- Move_r(0.63);
+ Move_r(0.6);
} else if(X>6) {
- Move_l(-0.65);
+ Move_l(-0.6);
Move_r(-0.6);
} else {
Move_l(0.0);
Move_r(0.0);
}
}
+#else
+ if(Y<2) {
+ Move_l(0.6);
+ Move_r(-0.6);
+ }
+ else if(Y>6) {
+ Move_l(-0.6);
+ Move_r(0.6);
+ }
+ else {
+ if(X<2) {
+ Move_l(-0.6);
+ Move_r(-0.6);
+ } else if(X>6) {
+ Move_l(0.6);
+ Move_r(0.6);
+ } else {
+ Move_l(0.0);
+ Move_r(0.0);
+ }
+ }
+#endif
}
void manualIM920()
{
@@ -47,6 +72,7 @@
edge5=0;
resetSwingSpeed = 1;
interruptSwingSpeed.attach(&countSwingSpeed, 0.05);
+ swingf=1;
// targSwingRadVelocity = swingspeed;
/*for(float i=0.0;i<0.6;i+=0.01){
Motor_swing=i;
@@ -65,7 +91,8 @@
interruptSwingSpeed.detach();
targSwingRadVelocity = 0.0;
contSwing.reset();
-// Motor_swing = 0.0;
+ swingf=0;
+ Motor_swing = 0.0;
}
else if(b==1){ /*L down*/
if(edge1){
@@ -107,6 +134,7 @@
#else
void manualMovePS3()
{
+#ifdef BLUE
if(analog_ly>50) {
Move_l(-0.4);
Move_r(0.4);
@@ -127,6 +155,28 @@
Move_r(0.0);
}
}
+#else
+ if(analog_ly>50) {
+ Move_l(0.4);
+ Move_r(-0.4);
+ }
+ else if(analog_ly<-50) {
+ Move_l(-0.4);
+ Move_r(0.4);
+ }
+ else {
+ if(analog_lx>50) {
+ Move_l(-0.6);
+ Move_r(-0.6);
+ } else if(analog_lx<-50) {
+ Move_l(0.6);
+ Move_r(0.6);
+ } else {
+ Move_l(0.0);
+ Move_r(0.0);
+ }
+ }
+#endif
}
void manualPS3(){
if(circle){ /*mode change*/
@@ -135,18 +185,29 @@
autoflag=1;
Indicator4=1;
IndicatorAuto=0;
+ Move_l(0.0);
+ Move_r(0.0);
resetState();
+ flaga=0;
+ step=114;
+ CStep=114;
+ spcount=speed;
}
}
else if(triangle){
if(edge_triangle){
edge_triangle=0;
- targSwingRadVelocity = swingspeed;
+ resetSwingSpeed = 1;
+ interruptSwingSpeed.attach(&countSwingSpeed, 0.05);
+ swingf=1;
}
}
else if(cross){
+ interruptSwingSpeed.detach();
targSwingRadVelocity = 0.0;
contSwing.reset();
+ swingf=0;
+ Motor_swing = 0.0;
}
else if(square){
if(edge_square){
@@ -163,31 +224,31 @@
else if(l1){ /*L up*/
if(edge_l1){
edge_l1=0;
- if(stateL!=1) stateL--;
+ if(stateL!=92) stateL++;
sendData(4,stateL);
}
}
else if(l2){ /*L down*/
if(edge_l2){
edge_l2=0;
- if(stateL!=MAX_VALUE) stateL++;
+ if(stateL!=1) stateL--;
sendData(4,stateL);
}
}
else if(r1){ /*R up*/
if(edge_r1){
edge_r1=0;
- if(stateR!=1) stateR--;
+ if(stateR!=92) stateR++;
sendData(5,stateR);
}
}
else if(r2){ /*R down*/
if(edge_r2){
edge_r2=0;
- if(stateR!=MAX_VALUE) stateR++;
+ if(stateR!=1) stateR--;
sendData(5,stateR);
}
}
}
#endif
-#endif /*manualMode.h*/
\ No newline at end of file
+#endif /*manualMode.h*/
