2015_robocon_bteam
/
2015robot_main
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Fork of
2015robot_main
by 
Naoto Deguchi
Diff: main_ps3.cpp
- Revision:
- 11:ce3083681efa
- Parent:
- 10:36f81cc33202
- Child:
- 12:24a444bed6a0
diff -r 36f81cc33202 -r ce3083681efa main_ps3.cpp
--- a/main_ps3.cpp Wed Sep 09 11:20:07 2015 +0000
+++ b/main_ps3.cpp Sat Sep 12 10:35:51 2015 +0000
@@ -5,254 +5,85 @@
#include "machine_ps3.h"
Serial pc(USBTX, USBRX);
-#define speed 50.0
-
//LocalFileSystem local("local");
-//次はRで曲がる
int main()
{
- //FILE *fp_d = fopen("/local/out_d.dat", "w");
+// FILE *fp_r = fopen("/local/out_d.dat", "w");
wait(0.1);
initializeSBDBT();
wait(0.1);
while(analog_ly==-64)
initializeMotors();
initializeControllers();
- RS485.putc(10);
+ sita=PI/4.0,targ_sita=PI/4.0;
while(1) {
- short exc=0;
- if(analog_ry<-50) Move_r(-0.18),exc=1;
- else if(analog_ry>50) Move_r(0.13),exc=1;
- if(analog_ly<-50) Move_l(-0.18),exc=1;
- else if(analog_ly>50) Move_l(0.18),exc=1;
- if(exc&&(analog_ry==0)) Move_r(0.0);
- if(exc&&(analog_ly==0)) Move_l(0.0);
- if(up){
- step=1;
- Move_r_sense.reset();
- Move_l_sense.reset();
- }
- else if(down){
- step=7;
- Move_r_sense.reset();
- Move_l_sense.reset();
+ if(up) targ_velocity=speed;
+ else if(down) targ_velocity=-speed;
+ else if(right) targ_velocity=0.0,targ_sita=-PI/4.0;
+ else if(left) targ_velocity=0.0,targ_sita=PI/4.0;
+ else if(r1) targ_sita=-PI/4.0;
+ else if(l1) targ_sita=PI/4.0;
+ else if(square) targ_velocity=0.0;
+ else if(circle) Emergency_toggle();
+ else if(cross){
+ sita=PI/4.0,x=0.0,y=0.0;
+ targ_velocity=0.0;
+ targ_sita=PI/4.0;
+ velocity_controller.reset();
+ direction_controller.reset();
+ wait(0.3);
+ sita=PI/4.0,x=0.0,y=0.0;
+ velocity_controller.reset();
+ direction_controller.reset();
}
- else if(right){
- step=2;
- Move_r_sense.reset();
- Move_l_sense.reset();
- }
- else if(left){
- step=9;
- Move_r_sense.reset();
- Move_l_sense.reset();
- }
-/////////////////////////////////////////////
- else if(r1){
- step=6;
- Move_r_sense.reset();
- Move_l_sense.reset();
- }
- else if(l1){
- step=4;
- Move_r_sense.reset();
- Move_l_sense.reset();
- }
-/////////////////////////////////////////////
+ /*else if(cross){
+ fclose(fp_r);
+ Move_r(0.0),Move_l(0.0);
+ }*/
else if(r2){
if(edge_r1){
edge_r1=0;
- RS485.putc(5);
- wait(0.5);
- RS485.putc(7);
+ sendData(1, 1);
+ wait(0.1);
+ sendData(1, 4);
+ wait(0.01);
+ sendData(1, 2);
+ wait(0.1);
+ sendData(1, 4);
}
}
else if(l2){
if(edge_l1){
edge_l1=0;
- RS485.putc(6);
- wait(0.5);
- RS485.putc(7);
- }
- }
- else if(cross) {
- move_r_controller.reset();
- move_l_controller.reset();
- targ_move_r_velocity=0.0;
- targ_move_l_velocity=0.0;
- Move_r_sense.reset();
- Move_l_sense.reset();
- step=0;
- //fclose(fp_r);
- } else if(square) {
- targ_move_r_velocity=0.0;
- targ_move_l_velocity=0.0;
- } else if(circle) Emergency_toggle();
- else if(triangle){
- if(edge_up){
- edge_up=0;
- if(cylinder_step==3) cylinder_step=0;
- cylinder_step++;
- RS485.putc(cylinder_step);
- wait(0.5);
- RS485.putc(4);
- }
- }
- if(step==0){
- targ_move_r_velocity=0.0;
- targ_move_l_velocity=0.0;
- move_r_controller.reset();
- move_l_controller.reset();
- }
- else if(step==1){
- targ_move_r_velocity=speed;
- targ_move_l_velocity=speed;
- if(((long long)Move_r_sense.getPulses()>2900)||(((long long)Move_l_sense.getPulses())>2900)){
- /*move_r_controller.reset();
- move_l_controller.reset();
- targ_move_r_velocity=0.0;
- targ_move_l_velocity=0.0;
- wait(0.3);
- Move_r_sense.reset();
- Move_l_sense.reset();
- step=0;*/
- targ_move_r_velocity=0.0;
- targ_move_l_velocity=0.0;
- step=8;
- }
- }
- else if(step==8){
- targ_move_r_velocity=0.0;
- targ_move_l_velocity=speed;
- if((long long)Move_l_sense.getPulses()>4300){
- targ_move_r_velocity=0.0;
- targ_move_l_velocity=0.0;
- }
- }
- else if(step==9){
- targ_move_r_velocity=0.0;
- targ_move_l_velocity=speed;
- if((long long)Move_l_sense.getPulses()>500){
- targ_move_r_velocity=0.0;
- targ_move_l_velocity=0.0;
- step=10;
- }
- }
- else if(step==10){
- targ_move_r_velocity=speed;
- targ_move_l_velocity=speed;
- if(((long long)Move_r_sense.getPulses()>3700)||(((long long)Move_l_sense.getPulses())>3700)){
- targ_move_r_velocity=0.0;
- targ_move_l_velocity=0.0;
- }
- }
- else if(step==2){
- targ_move_r_velocity=-speed;
- targ_move_l_velocity=0.0;
- if((long long)Move_r_sense.getPulses()<-700){
- move_r_controller.reset();
- move_l_controller.reset();
- targ_move_r_velocity=0.0;
- targ_move_l_velocity=0.0;
- wait(0.3);
- Move_r_sense.reset();
- Move_l_sense.reset();
- step=0;
+ sendData(1, 3);
+ wait(0.1);
+ sendData(1, 4);
+ wait(0.01);
+ sendData(1, 5);
+ wait(0.1);
+ sendData(1, 7);
}
}
- else if(step==3){
- targ_move_r_velocity=speed;
- targ_move_l_velocity=speed;
- if(((long long)Move_r_sense.getPulses()>10000)||(((long long)Move_l_sense.getPulses())>10000)){
- move_r_controller.reset();
- move_l_controller.reset();
- targ_move_r_velocity=0.0;
- targ_move_l_velocity=0.0;
- wait(0.3);
- Move_r_sense.reset();
- Move_l_sense.reset();
- step=0;
- }
- }
- else if(step==4){
- targ_move_r_velocity=speed;
- targ_move_l_velocity=0.0;
- if((long long)Move_r_sense.getPulses()>700){
- move_r_controller.reset();
- move_l_controller.reset();
- targ_move_r_velocity=0.0;
- targ_move_l_velocity=0.0;
- wait(0.3);
- Move_r_sense.reset();
- Move_l_sense.reset();
- step=0;
- }
- }
- else if(step==5){
- targ_move_r_velocity=-speed;
- targ_move_l_velocity=-speed;
- if(((long long)Move_r_sense.getPulses()<-5000)||(((long long)Move_l_sense.getPulses())<-5000)){
- move_r_controller.reset();
- move_l_controller.reset();
- targ_move_r_velocity=0.0;
- targ_move_l_velocity=0.0;
- wait(0.3);
- Move_r_sense.reset();
- Move_l_sense.reset();
- step=0;
+ else if(triangle){
+ if(edge_triangle){
+ edge_triangle=0;
+ if(cylinder_step==3) cylinder_step=0;
+ cylinder_step++;
+ sendData(1, cylinder_step);
+ wait(0.5);
+ sendData(1, 4);
}
}
- else if(step==6){
- targ_move_r_velocity=0.0;
- targ_move_l_velocity=speed;
- if((long long)Move_l_sense.getPulses()>500){
- move_r_controller.reset();
- move_l_controller.reset();
- targ_move_r_velocity=0.0;
- targ_move_l_velocity=0.0;
- wait(0.3);
- Move_r_sense.reset();
- Move_l_sense.reset();
- step=0;
- }
- }
- else if(step==7){
- targ_move_r_velocity=-speed;
- targ_move_l_velocity=-speed;
- if(((long long)Move_r_sense.getPulses()<-10000)||(((long long)Move_l_sense.getPulses())<-10000)){
- move_r_controller.reset();
- move_l_controller.reset();
- targ_move_r_velocity=0.0;
- targ_move_l_velocity=0.0;
- wait(0.3);
- Move_r_sense.reset();
- Move_l_sense.reset();
- step=0;
- }
- }
- if(!exc){
- mesure_move_l_velocity();
- mesure_move_r_velocity();
- Move_r_speed_following();
- Move_l_speed_following();
- }
- else{
- targ_move_r_velocity=0.0;
- targ_move_l_velocity=0.0;
- move_r_controller.reset();
- move_l_controller.reset();
- }
- //pc.printf("ry is:%d ,ly is:%d ,rx is %d ,lx is:%d\r\n", analog_ry, analog_ly, analog_rx, analog_lx);
- //pc.printf("targ is:%ld ,velocity is:%ld ,cont is %f\r\n", targ_swing_velocity, swing_velocity, cont_swing);
- //pc.printf("velocity r is:%f\r\n",swing_velocity);
- //pc.printf("compute swing is:%f\r\n",cont_swing);
- pc.printf("compute r is:%f,compute l is:%f\r\n",cont_move_r,cont_move_l);
- //pc.printf("sens r is:%ld ,sens l is:%ld\r\n",Move_r_sense.getPulses(),Move_l_sense.getPulses());
- //pc.printf("step:%d\r\n",step);
- //pc.printf("square:%ld, cross:%ld\r\n",square,cross);
- //fprintf(fp_r, "%ld\r\n",move_r_velocity);
+// if((753.0>x)&&(x>500.0)) targ_sita=-PI/4.0;
+// if(x>753.0) targ_velocity=0.0;
+ if(x>1000) targ_velocity=0.0;
+// 2270mm
+ mesure_state();
+ move_following();
+// fprintf(fp_r, "%f\r\n",velocity);
+ pc.printf("sita:%f, x:%f, y:%f ,x1:%f ,x2:%f ,velocity:%f\r\n",sita,x,y,x1,x2,velocity);
wait(RATE);
}
}
\ No newline at end of file
