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Dependencies:   PID QEI mbed

autoMode.h@37:75fcd28f48c7, 2015-11-15 (annotated)

Committer:
DeguNaoto
Date:
Sun Nov 15 11:45:29 2015 +0000
Revision:
37:75fcd28f48c7
Parent:
36:b8954b13a6d5
Child:
38:f4e9893641ac
20151115???????????

Who changed what in which revision?

UserRevisionLine numberNew contents of line
DeguNaoto 0:b613dc16f27d 1 #ifndef AUTOMODE_H
DeguNaoto 0:b613dc16f27d 2 #define AUTOMODE_H
DeguNaoto 0:b613dc16f27d 3
DeguNaoto 0:b613dc16f27d 4 /***PID Controller***/
DeguNaoto 26:760f1bce8214 5 PID velocity_controller(9.0,5274.0,0.0,RATE);
DeguNaoto 26:760f1bce8214 6 PID direction_controller(36.0,3.5,0.0,RATE);
DeguNaoto 0:b613dc16f27d 7 //PID direction_controller(36.0,3.0,0.0,RATE);
DeguNaoto 0:b613dc16f27d 8
DeguNaoto 0:b613dc16f27d 9 /***IM920 correspondence***/
DeguNaoto 0:b613dc16f27d 10 void autoIM920() {
DeguNaoto 33:a4323c20494b 11 /*if(b==7){ //mode change
DeguNaoto 0:b613dc16f27d 12 if(edge7) {
DeguNaoto 0:b613dc16f27d 13 edge7=0;
DeguNaoto 0:b613dc16f27d 14 autoflag=0;
DeguNaoto 0:b613dc16f27d 15 Indicator4=0;
DeguNaoto 0:b613dc16f27d 16 IndicatorAuto=1;
DeguNaoto 26:760f1bce8214 17 targ_velocity=0.0;
DeguNaoto 30:cd344beb415d 18 resetState(0);
DeguNaoto 0:b613dc16f27d 19 flaga=0;
DeguNaoto 30:cd344beb415d 20 step=114;
DeguNaoto 30:cd344beb415d 21 CStep=114;
DeguNaoto 30:cd344beb415d 22 mstep=114;
DeguNaoto 30:cd344beb415d 23 mCStep=114;
DeguNaoto 26:760f1bce8214 24 spcount=speed;
DeguNaoto 26:760f1bce8214 25 dpcount=0.0;
DeguNaoto 0:b613dc16f27d 26 }
DeguNaoto 33:a4323c20494b 27 }*/
DeguNaoto 33:a4323c20494b 28 if(!modeflag){ //mode change
DeguNaoto 33:a4323c20494b 29 autoflag=0;
DeguNaoto 33:a4323c20494b 30 Indicator4=0;
DeguNaoto 33:a4323c20494b 31 IndicatorAuto=1;
DeguNaoto 33:a4323c20494b 32 targ_velocity=0.0;
DeguNaoto 33:a4323c20494b 33 resetState(1);
DeguNaoto 33:a4323c20494b 34 flaga=0;
DeguNaoto 33:a4323c20494b 35 step=114;
DeguNaoto 33:a4323c20494b 36 CStep=114;
DeguNaoto 33:a4323c20494b 37 mstep=114;
DeguNaoto 33:a4323c20494b 38 mCStep=114;
DeguNaoto 33:a4323c20494b 39 spcount=speed;
DeguNaoto 33:a4323c20494b 40 dpcount=0.0;
DeguNaoto 36:b8954b13a6d5 41 swingmoved=0;
DeguNaoto 0:b613dc16f27d 42 }
DeguNaoto 33:a4323c20494b 43 if((b==6)&&(!flaga)){ //Own & Middle Start
DeguNaoto 0:b613dc16f27d 44 if(edge6){
DeguNaoto 0:b613dc16f27d 45 edge6=0;
DeguNaoto 30:cd344beb415d 46 resetState(1);
DeguNaoto 0:b613dc16f27d 47 flagf=1;
DeguNaoto 0:b613dc16f27d 48 spcount=0.0;
DeguNaoto 26:760f1bce8214 49 dpcount=0.0;
DeguNaoto 2:738b28f6a04b 50 direction_controller.setBias(0.0);
DeguNaoto 0:b613dc16f27d 51 #ifdef BLUE
DeguNaoto 37:75fcd28f48c7 52 sendData(5,70); //over
DeguNaoto 35:7b6786193aa2 53 // sendData(5,68); //over
unicore32 29:460e49e37048 54 wait(0.05);
DeguNaoto 37:75fcd28f48c7 55 sendData(4,70); //front
DeguNaoto 35:7b6786193aa2 56 // sendData(4,68); //front
unicore32 29:460e49e37048 57 wait(0.05);
DeguNaoto 37:75fcd28f48c7 58 sendData(6,14); //middle
DeguNaoto 34:aa2a5c888a27 59 // sendData(6,7); //middle
unicore32 29:460e49e37048 60 stateR = 69;
unicore32 29:460e49e37048 61 stateL = 69;
DeguNaoto 0:b613dc16f27d 62 #else
DeguNaoto 0:b613dc16f27d 63 sendData(5,69); //right
DeguNaoto 0:b613dc16f27d 64 wait(0.05);
DeguNaoto 0:b613dc16f27d 65 sendData(4,69); //left
DeguNaoto 17:726b6f53a457 66 wait(0.05);
DeguNaoto 36:b8954b13a6d5 67 sendData(6,10); //middle
DeguNaoto 0:b613dc16f27d 68 stateR = 69;
DeguNaoto 0:b613dc16f27d 69 stateL = 69;
DeguNaoto 0:b613dc16f27d 70 #endif
DeguNaoto 0:b613dc16f27d 71 step = 0;
DeguNaoto 30:cd344beb415d 72 CStep = 0;
DeguNaoto 30:cd344beb415d 73 flaga = 1;
DeguNaoto 30:cd344beb415d 74 }
DeguNaoto 30:cd344beb415d 75 }
DeguNaoto 33:a4323c20494b 76 else if((b==5)&&(!flaga)){ //Own & Opponent Start
DeguNaoto 33:a4323c20494b 77 if(edge5){
DeguNaoto 33:a4323c20494b 78 edge5=0;
DeguNaoto 30:cd344beb415d 79 resetState(1);
DeguNaoto 30:cd344beb415d 80 flagf=1;
DeguNaoto 30:cd344beb415d 81 spcount=0.0;
DeguNaoto 30:cd344beb415d 82 dpcount=0.0;
DeguNaoto 30:cd344beb415d 83 direction_controller.setBias(0.0);
DeguNaoto 30:cd344beb415d 84 #ifdef BLUE
DeguNaoto 37:75fcd28f48c7 85 sendData(5,67);
DeguNaoto 37:75fcd28f48c7 86 // sendData(5,77); //over cylinder4
DeguNaoto 30:cd344beb415d 87 wait(0.05);
DeguNaoto 37:75fcd28f48c7 88 sendData(4,75);
DeguNaoto 37:75fcd28f48c7 89 // sendData(4,75); //front
DeguNaoto 30:cd344beb415d 90 wait(0.05);
DeguNaoto 37:75fcd28f48c7 91 sendData(6,1); //middle
DeguNaoto 30:cd344beb415d 92 stateR = 69;
DeguNaoto 33:a4323c20494b 93 stateL = 69;
DeguNaoto 30:cd344beb415d 94 #else
DeguNaoto 30:cd344beb415d 95 sendData(5,69); //right
DeguNaoto 30:cd344beb415d 96 wait(0.05);
DeguNaoto 30:cd344beb415d 97 sendData(4,69); //left
DeguNaoto 30:cd344beb415d 98 wait(0.05);
DeguNaoto 30:cd344beb415d 99 sendData(6,69); //middle
DeguNaoto 30:cd344beb415d 100 stateR = 69;
DeguNaoto 30:cd344beb415d 101 stateL = 69;
DeguNaoto 30:cd344beb415d 102 #endif
DeguNaoto 30:cd344beb415d 103 step = 10;
DeguNaoto 30:cd344beb415d 104 CStep = 10;
DeguNaoto 0:b613dc16f27d 105 flaga = 1;
DeguNaoto 0:b613dc16f27d 106 }
DeguNaoto 0:b613dc16f27d 107 }
DeguNaoto 37:75fcd28f48c7 108 if((b==8)&&(!flaga)){ //Middle Start
DeguNaoto 37:75fcd28f48c7 109 if(edge8){
DeguNaoto 37:75fcd28f48c7 110 edge6=0;
DeguNaoto 37:75fcd28f48c7 111 resetState(1);
DeguNaoto 37:75fcd28f48c7 112 flagf=1;
DeguNaoto 37:75fcd28f48c7 113 spcount=0.0;
DeguNaoto 37:75fcd28f48c7 114 dpcount=0.0;
DeguNaoto 37:75fcd28f48c7 115 direction_controller.setBias(0.0);
DeguNaoto 37:75fcd28f48c7 116 #ifdef BLUE
DeguNaoto 37:75fcd28f48c7 117 sendData(5,69); //over
DeguNaoto 37:75fcd28f48c7 118 // sendData(5,69); //over
DeguNaoto 37:75fcd28f48c7 119 wait(0.05);
DeguNaoto 37:75fcd28f48c7 120 sendData(4,70); //front
DeguNaoto 37:75fcd28f48c7 121 // sendData(4,71); //front
DeguNaoto 37:75fcd28f48c7 122 wait(0.05);
DeguNaoto 37:75fcd28f48c7 123 sendData(6,11); //middle
DeguNaoto 37:75fcd28f48c7 124 // sendData(6,7); //middle
DeguNaoto 37:75fcd28f48c7 125 stateR = 69;
DeguNaoto 37:75fcd28f48c7 126 stateL = 69;
DeguNaoto 37:75fcd28f48c7 127 #else
DeguNaoto 37:75fcd28f48c7 128 sendData(5,69); //right
DeguNaoto 37:75fcd28f48c7 129 wait(0.05);
DeguNaoto 37:75fcd28f48c7 130 sendData(4,69); //left
DeguNaoto 37:75fcd28f48c7 131 wait(0.05);
DeguNaoto 37:75fcd28f48c7 132 sendData(6,10); //middle
DeguNaoto 37:75fcd28f48c7 133 stateR = 69;
DeguNaoto 37:75fcd28f48c7 134 stateL = 69;
DeguNaoto 37:75fcd28f48c7 135 #endif
DeguNaoto 37:75fcd28f48c7 136 step = 0;
DeguNaoto 37:75fcd28f48c7 137 CStep = 4;
DeguNaoto 37:75fcd28f48c7 138 flaga = 1;
DeguNaoto 37:75fcd28f48c7 139 }
DeguNaoto 37:75fcd28f48c7 140 }
DeguNaoto 37:75fcd28f48c7 141 /*else if(b==1){
DeguNaoto 36:b8954b13a6d5 142 if(edge1){
DeguNaoto 36:b8954b13a6d5 143 edge1=0;
DeguNaoto 36:b8954b13a6d5 144 sendData(1,5);
DeguNaoto 36:b8954b13a6d5 145 }
DeguNaoto 36:b8954b13a6d5 146 }
DeguNaoto 36:b8954b13a6d5 147 else if(b==2){
DeguNaoto 36:b8954b13a6d5 148 if(edge2){
DeguNaoto 36:b8954b13a6d5 149 edge2=0;
DeguNaoto 36:b8954b13a6d5 150 sendData(1,4);
DeguNaoto 36:b8954b13a6d5 151 }
DeguNaoto 36:b8954b13a6d5 152 }
DeguNaoto 36:b8954b13a6d5 153 else if(b==3){
DeguNaoto 36:b8954b13a6d5 154 if(edge3){
DeguNaoto 36:b8954b13a6d5 155 edge3=0;
DeguNaoto 36:b8954b13a6d5 156 sendData(1,6);
DeguNaoto 36:b8954b13a6d5 157 }
DeguNaoto 36:b8954b13a6d5 158 }
DeguNaoto 36:b8954b13a6d5 159 else if(b==4){
DeguNaoto 36:b8954b13a6d5 160 if(edge4){
DeguNaoto 36:b8954b13a6d5 161 edge4=0;
DeguNaoto 36:b8954b13a6d5 162 sendData(1,8);
DeguNaoto 36:b8954b13a6d5 163 }
DeguNaoto 37:75fcd28f48c7 164 }*/
DeguNaoto 21:bdf8ac5c200c 165 /*if(a2){
DeguNaoto 0:b613dc16f27d 166 skip = 1;
DeguNaoto 0:b613dc16f27d 167 }
DeguNaoto 0:b613dc16f27d 168 else if(!a2){
DeguNaoto 0:b613dc16f27d 169 skip = 0;
DeguNaoto 21:bdf8ac5c200c 170 }*/
DeguNaoto 21:bdf8ac5c200c 171 skip=0;
DeguNaoto 0:b613dc16f27d 172 if(b!=1) edge1=1;
DeguNaoto 0:b613dc16f27d 173 if(b!=2) edge2=1;
DeguNaoto 0:b613dc16f27d 174 if(b!=3) edge3=1;
DeguNaoto 0:b613dc16f27d 175 if(b!=4) edge4=1;
DeguNaoto 0:b613dc16f27d 176 if(b!=5) edge5=1;
DeguNaoto 0:b613dc16f27d 177 if(b!=6) edge6=1;
DeguNaoto 0:b613dc16f27d 178 if(b!=7) edge7=1;
DeguNaoto 0:b613dc16f27d 179 if(b!=8) edge8=1;
DeguNaoto 0:b613dc16f27d 180 if(b!=9) edge9=1;
DeguNaoto 30:cd344beb415d 181 if(b!=10) edge10=1;
DeguNaoto 30:cd344beb415d 182 if(b!=11) edge11=1;
DeguNaoto 0:b613dc16f27d 183 }
DeguNaoto 0:b613dc16f27d 184
DeguNaoto 0:b613dc16f27d 185
DeguNaoto 30:cd344beb415d 186 #endif /*autoMode.h*/