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Dependencies:   PID QEI mbed

autoMode.h@35:7b6786193aa2, 2015-11-14 (annotated)

Committer:
DeguNaoto
Date:
Sat Nov 14 04:05:13 2015 +0000
Revision:
35:7b6786193aa2
Parent:
34:aa2a5c888a27
Child:
36:b8954b13a6d5
20151113 ??????????????

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 0:b613dc16f27d 41 }
DeguNaoto 33:a4323c20494b 42 if((b==6)&&(!flaga)){ //Own & Middle Start
DeguNaoto 0:b613dc16f27d 43 if(edge6){
DeguNaoto 0:b613dc16f27d 44 edge6=0;
DeguNaoto 30:cd344beb415d 45 resetState(1);
DeguNaoto 0:b613dc16f27d 46 flagf=1;
DeguNaoto 0:b613dc16f27d 47 spcount=0.0;
DeguNaoto 26:760f1bce8214 48 dpcount=0.0;
DeguNaoto 2:738b28f6a04b 49 direction_controller.setBias(0.0);
DeguNaoto 0:b613dc16f27d 50 #ifdef BLUE
DeguNaoto 35:7b6786193aa2 51 sendData(5,69); //over
DeguNaoto 35:7b6786193aa2 52 // sendData(5,68); //over
unicore32 29:460e49e37048 53 wait(0.05);
DeguNaoto 35:7b6786193aa2 54 sendData(4,69); //front
DeguNaoto 35:7b6786193aa2 55 // sendData(4,68); //front
unicore32 29:460e49e37048 56 wait(0.05);
DeguNaoto 35:7b6786193aa2 57 sendData(6,10); //middle
DeguNaoto 34:aa2a5c888a27 58 // sendData(6,7); //middle
unicore32 29:460e49e37048 59 stateR = 69;
unicore32 29:460e49e37048 60 stateL = 69;
DeguNaoto 0:b613dc16f27d 61 #else
DeguNaoto 0:b613dc16f27d 62 sendData(5,69); //right
DeguNaoto 0:b613dc16f27d 63 wait(0.05);
DeguNaoto 0:b613dc16f27d 64 sendData(4,69); //left
DeguNaoto 17:726b6f53a457 65 wait(0.05);
DeguNaoto 27:88863fab46c0 66 sendData(6,69); //middle
DeguNaoto 0:b613dc16f27d 67 stateR = 69;
DeguNaoto 0:b613dc16f27d 68 stateL = 69;
DeguNaoto 0:b613dc16f27d 69 #endif
DeguNaoto 0:b613dc16f27d 70 step = 0;
DeguNaoto 30:cd344beb415d 71 CStep = 0;
DeguNaoto 30:cd344beb415d 72 flaga = 1;
DeguNaoto 30:cd344beb415d 73 }
DeguNaoto 30:cd344beb415d 74 }
DeguNaoto 33:a4323c20494b 75 else if((b==5)&&(!flaga)){ //Own & Opponent Start
DeguNaoto 33:a4323c20494b 76 if(edge5){
DeguNaoto 33:a4323c20494b 77 edge5=0;
DeguNaoto 30:cd344beb415d 78 resetState(1);
DeguNaoto 30:cd344beb415d 79 flagf=1;
DeguNaoto 30:cd344beb415d 80 spcount=0.0;
DeguNaoto 30:cd344beb415d 81 dpcount=0.0;
DeguNaoto 30:cd344beb415d 82 direction_controller.setBias(0.0);
DeguNaoto 30:cd344beb415d 83 #ifdef BLUE
DeguNaoto 35:7b6786193aa2 84 // sendData(5,65); //right
DeguNaoto 35:7b6786193aa2 85 sendData(5,69); //right
DeguNaoto 30:cd344beb415d 86 wait(0.05);
DeguNaoto 35:7b6786193aa2 87 // sendData(4,65); //left
DeguNaoto 35:7b6786193aa2 88 sendData(4,69); //left
DeguNaoto 30:cd344beb415d 89 wait(0.05);
DeguNaoto 30:cd344beb415d 90 sendData(6,10); //middle
DeguNaoto 30:cd344beb415d 91 stateR = 69;
DeguNaoto 33:a4323c20494b 92 stateL = 69;
DeguNaoto 30:cd344beb415d 93 #else
DeguNaoto 30:cd344beb415d 94 sendData(5,69); //right
DeguNaoto 30:cd344beb415d 95 wait(0.05);
DeguNaoto 30:cd344beb415d 96 sendData(4,69); //left
DeguNaoto 30:cd344beb415d 97 wait(0.05);
DeguNaoto 30:cd344beb415d 98 sendData(6,69); //middle
DeguNaoto 30:cd344beb415d 99 stateR = 69;
DeguNaoto 30:cd344beb415d 100 stateL = 69;
DeguNaoto 30:cd344beb415d 101 #endif
DeguNaoto 30:cd344beb415d 102 step = 10;
DeguNaoto 30:cd344beb415d 103 CStep = 10;
DeguNaoto 0:b613dc16f27d 104 flaga = 1;
DeguNaoto 0:b613dc16f27d 105 }
DeguNaoto 0:b613dc16f27d 106 }
DeguNaoto 21:bdf8ac5c200c 107 /*if(a2){
DeguNaoto 0:b613dc16f27d 108 skip = 1;
DeguNaoto 0:b613dc16f27d 109 }
DeguNaoto 0:b613dc16f27d 110 else if(!a2){
DeguNaoto 0:b613dc16f27d 111 skip = 0;
DeguNaoto 21:bdf8ac5c200c 112 }*/
DeguNaoto 21:bdf8ac5c200c 113 skip=0;
DeguNaoto 0:b613dc16f27d 114 if(b!=1) edge1=1;
DeguNaoto 0:b613dc16f27d 115 if(b!=2) edge2=1;
DeguNaoto 0:b613dc16f27d 116 if(b!=3) edge3=1;
DeguNaoto 0:b613dc16f27d 117 if(b!=4) edge4=1;
DeguNaoto 0:b613dc16f27d 118 if(b!=5) edge5=1;
DeguNaoto 0:b613dc16f27d 119 if(b!=6) edge6=1;
DeguNaoto 0:b613dc16f27d 120 if(b!=7) edge7=1;
DeguNaoto 0:b613dc16f27d 121 if(b!=8) edge8=1;
DeguNaoto 0:b613dc16f27d 122 if(b!=9) edge9=1;
DeguNaoto 30:cd344beb415d 123 if(b!=10) edge10=1;
DeguNaoto 30:cd344beb415d 124 if(b!=11) edge11=1;
DeguNaoto 0:b613dc16f27d 125 }
DeguNaoto 0:b613dc16f27d 126
DeguNaoto 0:b613dc16f27d 127
DeguNaoto 30:cd344beb415d 128 #endif /*autoMode.h*/