2015_robocon_bteam / Mbed 2 deprecated 2015robot_main

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Dependencies:   PID QEI mbed

Fork of 2015robot_main by Naoto Deguchi

main_ps3.cpp@29:03bb1ddbe456, 2015-09-18 (annotated)

Committer:
DeguNaoto
Date:
Fri Sep 18 08:55:05 2015 +0000
Revision:
29:03bb1ddbe456
Parent:
28:c6ed6fb95795
Child:
30:2923c6879e5f
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Who changed what in which revision?

UserRevisionLine numberNew contents of line
DeguNaoto 0:bd4719e15f7e 1 /**
DeguNaoto 0:bd4719e15f7e 2 * This program is written in main micro computer "mbed" for 2015 NHK Robot Contest (Bteam).
DeguNaoto 0:bd4719e15f7e 3 */
DeguNaoto 2:cf8ca6742db9 4
DeguNaoto 0:bd4719e15f7e 5 #include "machine_ps3.h"
DeguNaoto 0:bd4719e15f7e 6
DeguNaoto 0:bd4719e15f7e 7 Serial pc(USBTX, USBRX);
DeguNaoto 0:bd4719e15f7e 8
DeguNaoto 2:cf8ca6742db9 9 int main()
DeguNaoto 2:cf8ca6742db9 10 {
DeguNaoto 0:bd4719e15f7e 11 initializeSBDBT();
DeguNaoto 0:bd4719e15f7e 12 initializeMotors();
DeguNaoto 0:bd4719e15f7e 13 initializeControllers();
DeguNaoto 29:03bb1ddbe456 14 initialize_interrupter();
DeguNaoto 11:ce3083681efa 15 sita=PI/4.0,targ_sita=PI/4.0;
DeguNaoto 12:24a444bed6a0 16 double count=1.0;
DeguNaoto 21:79b94cb922f0 17 Indicator4=1;
DeguNaoto 26:8e6c736b6791 18 Enable=1;
DeguNaoto 0:bd4719e15f7e 19 while(1) {
DeguNaoto 21:79b94cb922f0 20 if(autoflag){
DeguNaoto 22:3996c3f41922 21 autoPs3();
DeguNaoto 21:79b94cb922f0 22 if(count==1.0) if((8650.0>x)&&(x>1700.0)) targ_sita=0.0;
DeguNaoto 21:79b94cb922f0 23 if(x>8650.0) targ_velocity=-speed,targ_sita=PI/4.0,count=0.0;
DeguNaoto 21:79b94cb922f0 24 if((x>3554.0)&&(cylinderStep==1)) cylinderStep=2,sendData(1,1);
DeguNaoto 21:79b94cb922f0 25 if((x>5524.0)&&(cylinderStep==2)) cylinderStep=3,sendData(1,2);
DeguNaoto 21:79b94cb922f0 26 if((x>7585.0)&&(cylinderStep==3)) cylinderStep=0,sendData(1,3);
DeguNaoto 21:79b94cb922f0 27 move_following();
DeguNaoto 28:c6ed6fb95795 28 // pc.printf("sita:%f, x:%f, y:%f ,x1:%f, x2:%f ,velocity:%f\r\n",sita,x,y,x1,x2,velocity);
DeguNaoto 4:51d87d2b698c 29 }
DeguNaoto 21:79b94cb922f0 30 else if(!autoflag) {
DeguNaoto 23:5c56747bcc43 31 manualMovePs3();
DeguNaoto 29:03bb1ddbe456 32 manualPs3();
DeguNaoto 4:51d87d2b698c 33 }
DeguNaoto 23:5c56747bcc43 34 /***update state***/
DeguNaoto 21:79b94cb922f0 35 mesure_state();
DeguNaoto 0:bd4719e15f7e 36 wait(RATE);
DeguNaoto 0:bd4719e15f7e 37 }
DeguNaoto 0:bd4719e15f7e 38 }