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Dependencies:   PID QEI mbed

Fork of 2015robot_main by Naoto Deguchi

manualMode.h@32:eb7c263cb5cf, 2015-09-20 (annotated)

Committer:
DeguNaoto
Date:
Sun Sep 20 04:31:34 2015 +0000
Revision:
32:eb7c263cb5cf
Parent:
31:74e77ef0831c 
??(Vr,Vl)?????

Who changed what in which revision?

UserRevisionLine numberNew contents of line
DeguNaoto 22:3996c3f41922 1 #ifndef MANUALMODE_H
DeguNaoto 22:3996c3f41922 2 #define MANUALMODE_H
DeguNaoto 22:3996c3f41922 3
DeguNaoto 31:74e77ef0831c 4 void manualMovePs3()
DeguNaoto 31:74e77ef0831c 5 {
DeguNaoto 31:74e77ef0831c 6 if(analog_lx>10) {
DeguNaoto 31:74e77ef0831c 7 Move_l(-0.4);
DeguNaoto 31:74e77ef0831c 8 Move_r(0.4);
DeguNaoto 31:74e77ef0831c 9 } else if(analog_lx<-10) {
DeguNaoto 31:74e77ef0831c 10 Move_l(0.4);
DeguNaoto 31:74e77ef0831c 11 Move_r(-0.4);
DeguNaoto 31:74e77ef0831c 12 } else {
DeguNaoto 31:74e77ef0831c 13 if(analog_ly>10) {
DeguNaoto 31:74e77ef0831c 14 Move_l(0.4);
DeguNaoto 31:74e77ef0831c 15 Move_r(0.3);
DeguNaoto 31:74e77ef0831c 16 } else if(analog_ly<-10) {
DeguNaoto 31:74e77ef0831c 17 Move_l(-0.4);
DeguNaoto 31:74e77ef0831c 18 Move_r(-0.3);
DeguNaoto 31:74e77ef0831c 19 } else {
DeguNaoto 24:271da6144a02 20 Move_l(0.0);
DeguNaoto 24:271da6144a02 21 Move_r(0.0);
DeguNaoto 24:271da6144a02 22 }
DeguNaoto 23:5c56747bcc43 23 }
DeguNaoto 23:5c56747bcc43 24 }
DeguNaoto 22:3996c3f41922 25
DeguNaoto 31:74e77ef0831c 26 void manualPs3()
DeguNaoto 31:74e77ef0831c 27 {
DeguNaoto 31:74e77ef0831c 28 if(circle) {
DeguNaoto 32:eb7c263cb5cf 29 if(edge_circle) edge_circle=0,autoflag=1,Indicator4=1,IndicatorMode=0;
DeguNaoto 32:eb7c263cb5cf 30 }
DeguNaoto 32:eb7c263cb5cf 31 else if(triangle) Motor_swing=1;
DeguNaoto 31:74e77ef0831c 32 else if(square) {
DeguNaoto 31:74e77ef0831c 33 if(edge_square) {
DeguNaoto 29:03bb1ddbe456 34 edge_square=0;
DeguNaoto 30:2923c6879e5f 35 // enableShoot=1;
DeguNaoto 30:2923c6879e5f 36 sendData(1,6);
DeguNaoto 29:03bb1ddbe456 37 }
DeguNaoto 32:eb7c263cb5cf 38 }
DeguNaoto 32:eb7c263cb5cf 39 else if(cross) Motor_swing=0;
DeguNaoto 32:eb7c263cb5cf 40 else if(right){
DeguNaoto 32:eb7c263cb5cf 41 if(edge_right){
DeguNaoto 32:eb7c263cb5cf 42 edge_right=0;
DeguNaoto 32:eb7c263cb5cf 43 sendData(1,4);
DeguNaoto 32:eb7c263cb5cf 44 }
DeguNaoto 32:eb7c263cb5cf 45 }
DeguNaoto 32:eb7c263cb5cf 46 else if(left){
DeguNaoto 32:eb7c263cb5cf 47 if(edge_left){
DeguNaoto 32:eb7c263cb5cf 48 edge_left=0;
DeguNaoto 32:eb7c263cb5cf 49 sendData(1,5);
DeguNaoto 32:eb7c263cb5cf 50 }
DeguNaoto 32:eb7c263cb5cf 51 }
DeguNaoto 32:eb7c263cb5cf 52 else if(up){
DeguNaoto 32:eb7c263cb5cf 53 if(edge_up){
DeguNaoto 32:eb7c263cb5cf 54 edge_up=0;
DeguNaoto 32:eb7c263cb5cf 55 sendData(ADR_R,31);
DeguNaoto 32:eb7c263cb5cf 56 wait(0.05);
DeguNaoto 32:eb7c263cb5cf 57 sendData(ADR_L,31);
DeguNaoto 32:eb7c263cb5cf 58 }
DeguNaoto 32:eb7c263cb5cf 59 }
DeguNaoto 32:eb7c263cb5cf 60 else if(down){
DeguNaoto 32:eb7c263cb5cf 61 if(edge_down){
DeguNaoto 32:eb7c263cb5cf 62 edge_down=0;
DeguNaoto 32:eb7c263cb5cf 63 sendData(ADR_R,0);
DeguNaoto 32:eb7c263cb5cf 64 wait(0.05);
DeguNaoto 32:eb7c263cb5cf 65 sendData(ADR_L,0);
DeguNaoto 32:eb7c263cb5cf 66 }
DeguNaoto 32:eb7c263cb5cf 67 }
DeguNaoto 32:eb7c263cb5cf 68 else if(r1){
DeguNaoto 32:eb7c263cb5cf 69 if(edge_r1){
DeguNaoto 32:eb7c263cb5cf 70 edge_r1=0;
DeguNaoto 32:eb7c263cb5cf 71 if(angleR<30){
DeguNaoto 32:eb7c263cb5cf 72 angleR++;
DeguNaoto 32:eb7c263cb5cf 73 sendData(ADR_R,angleR);
DeguNaoto 32:eb7c263cb5cf 74 }
DeguNaoto 32:eb7c263cb5cf 75 }
DeguNaoto 32:eb7c263cb5cf 76 }
DeguNaoto 32:eb7c263cb5cf 77 else if(r2){
DeguNaoto 32:eb7c263cb5cf 78 if(edge_r2){
DeguNaoto 32:eb7c263cb5cf 79 edge_r2=0;
DeguNaoto 32:eb7c263cb5cf 80 if(angleR>0){
DeguNaoto 32:eb7c263cb5cf 81 angleR--;
DeguNaoto 32:eb7c263cb5cf 82 sendData(ADR_R,angleR);
DeguNaoto 32:eb7c263cb5cf 83 }
DeguNaoto 32:eb7c263cb5cf 84 }
DeguNaoto 32:eb7c263cb5cf 85 }
DeguNaoto 32:eb7c263cb5cf 86 else if(l1){
DeguNaoto 32:eb7c263cb5cf 87 if(edge_l1){
DeguNaoto 32:eb7c263cb5cf 88 edge_l1=0;
DeguNaoto 32:eb7c263cb5cf 89 if(angleL<30){
DeguNaoto 32:eb7c263cb5cf 90 angleL++;
DeguNaoto 32:eb7c263cb5cf 91 sendData(ADR_L,angleL);
DeguNaoto 32:eb7c263cb5cf 92 }
DeguNaoto 32:eb7c263cb5cf 93 }
DeguNaoto 32:eb7c263cb5cf 94 }
DeguNaoto 32:eb7c263cb5cf 95 else if(l2){
DeguNaoto 32:eb7c263cb5cf 96 if(edge_l2){
DeguNaoto 32:eb7c263cb5cf 97 edge_l2=0;
DeguNaoto 32:eb7c263cb5cf 98 if(angleL>0){
DeguNaoto 32:eb7c263cb5cf 99 angleL--;
DeguNaoto 32:eb7c263cb5cf 100 sendData(ADR_L,angleL);
DeguNaoto 32:eb7c263cb5cf 101 }
DeguNaoto 32:eb7c263cb5cf 102 }
DeguNaoto 32:eb7c263cb5cf 103 }
DeguNaoto 29:03bb1ddbe456 104 }
DeguNaoto 29:03bb1ddbe456 105
DeguNaoto 22:3996c3f41922 106
DeguNaoto 22:3996c3f41922 107
DeguNaoto 22:3996c3f41922 108 #endif /*manualMode.h*/