2015_robocon_bteam / Mbed 2 deprecated 2015robot_main_zenkoku

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Dependencies:   PID QEI mbed

manualMode.h@27:88863fab46c0, 2015-11-09 (annotated)

Committer:
DeguNaoto
Date:
Mon Nov 09 11:33:13 2015 +0000
Revision:
27:88863fab46c0
Parent:
26:760f1bce8214
Child:
30:cd344beb415d
20151109 ??

Who changed what in which revision?

UserRevisionLine numberNew contents of line
DeguNaoto 0:b613dc16f27d 1 #ifndef MANUALMODE_H
DeguNaoto 0:b613dc16f27d 2 #define MANUALMODE_H
DeguNaoto 0:b613dc16f27d 3
DeguNaoto 0:b613dc16f27d 4 void manualIM920()
DeguNaoto 0:b613dc16f27d 5 {
DeguNaoto 0:b613dc16f27d 6 if(b==7){ /*mode change*/
DeguNaoto 0:b613dc16f27d 7 if(edge7){
DeguNaoto 0:b613dc16f27d 8 edge7=0;
DeguNaoto 0:b613dc16f27d 9 autoflag=1;
DeguNaoto 0:b613dc16f27d 10 Indicator4=1;
DeguNaoto 0:b613dc16f27d 11 IndicatorAuto=0;
DeguNaoto 6:ca3a74a93ae2 12 direction_controller.setTunings(36.0,3.0,0.0);
DeguNaoto 0:b613dc16f27d 13 resetState();
DeguNaoto 0:b613dc16f27d 14 flaga=0;
DeguNaoto 0:b613dc16f27d 15 step=114;
DeguNaoto 0:b613dc16f27d 16 CStep=114;
DeguNaoto 3:8d8c25c556ae 17 spcount=speed;
DeguNaoto 26:760f1bce8214 18 dpcount=0.0;
DeguNaoto 0:b613dc16f27d 19 }
DeguNaoto 0:b613dc16f27d 20 }
DeguNaoto 0:b613dc16f27d 21 else if(b==5){
DeguNaoto 0:b613dc16f27d 22 if(edge5){
DeguNaoto 0:b613dc16f27d 23 edge5=0;
DeguNaoto 24:6d2573d6f2b6 24 resetSwingSpeed = 1;
DeguNaoto 24:6d2573d6f2b6 25 interruptSwingSpeed.attach(&countSwingSpeed, 0.05);
DeguNaoto 24:6d2573d6f2b6 26 enableSwing=1;
DeguNaoto 24:6d2573d6f2b6 27 /*for(float i=0.0;i<0.6;i+=0.01){
DeguNaoto 3:8d8c25c556ae 28 Motor_swing=i;
DeguNaoto 24:6d2573d6f2b6 29 wait(0.01);
DeguNaoto 3:8d8c25c556ae 30 }
DeguNaoto 24:6d2573d6f2b6 31 Motor_swing = 0.6;*/
DeguNaoto 3:8d8c25c556ae 32 }
DeguNaoto 3:8d8c25c556ae 33 }
DeguNaoto 3:8d8c25c556ae 34 else if(b==9){
DeguNaoto 3:8d8c25c556ae 35 interruptSwingSpeed.detach();
DeguNaoto 3:8d8c25c556ae 36 targSwingRadVelocity = 0.0;
DeguNaoto 24:6d2573d6f2b6 37 enableSwing=0;
DeguNaoto 3:8d8c25c556ae 38 contSwing.reset();
DeguNaoto 7:4aa57a35ec0b 39 sendData(2,8);
DeguNaoto 3:8d8c25c556ae 40 Motor_swing = 0.0;
DeguNaoto 3:8d8c25c556ae 41 }
DeguNaoto 17:726b6f53a457 42 else if(b==6){
DeguNaoto 17:726b6f53a457 43 if(edge6){
DeguNaoto 17:726b6f53a457 44 edge6=0;
DeguNaoto 17:726b6f53a457 45 sendData(1,1);
DeguNaoto 17:726b6f53a457 46 }
DeguNaoto 17:726b6f53a457 47 }
DeguNaoto 24:6d2573d6f2b6 48 else if(b==8){
DeguNaoto 24:6d2573d6f2b6 49 if(edge8){
DeguNaoto 24:6d2573d6f2b6 50 edge8=0;
DeguNaoto 26:760f1bce8214 51 sendData(1,5);
DeguNaoto 24:6d2573d6f2b6 52 }
DeguNaoto 24:6d2573d6f2b6 53 }
DeguNaoto 27:88863fab46c0 54 else if(b==1){
DeguNaoto 0:b613dc16f27d 55 if(edge1){
DeguNaoto 0:b613dc16f27d 56 edge1=0;
DeguNaoto 0:b613dc16f27d 57 if(stateL!=1) stateL--;
DeguNaoto 0:b613dc16f27d 58 sendData(4,stateL);
DeguNaoto 0:b613dc16f27d 59 }
DeguNaoto 0:b613dc16f27d 60 }
DeguNaoto 26:760f1bce8214 61 else if(b==2){
DeguNaoto 0:b613dc16f27d 62 if(edge2){
DeguNaoto 0:b613dc16f27d 63 edge2=0;
DeguNaoto 0:b613dc16f27d 64 if(stateL!=92) stateL++;
DeguNaoto 0:b613dc16f27d 65 sendData(4,stateL);
DeguNaoto 0:b613dc16f27d 66 }
DeguNaoto 0:b613dc16f27d 67 }
DeguNaoto 26:760f1bce8214 68 else if(b==3){
DeguNaoto 0:b613dc16f27d 69 if(edge3){
DeguNaoto 0:b613dc16f27d 70 edge3=0;
DeguNaoto 0:b613dc16f27d 71 if(stateR!=1) stateR--;
DeguNaoto 0:b613dc16f27d 72 sendData(5,stateR);
DeguNaoto 0:b613dc16f27d 73 }
DeguNaoto 0:b613dc16f27d 74 }
DeguNaoto 26:760f1bce8214 75 else if(b==4){
DeguNaoto 0:b613dc16f27d 76 if(edge4){
DeguNaoto 0:b613dc16f27d 77 edge4=0;
DeguNaoto 0:b613dc16f27d 78 if(stateR!=92) stateR++;
DeguNaoto 0:b613dc16f27d 79 sendData(5,stateR);
DeguNaoto 0:b613dc16f27d 80 }
DeguNaoto 27:88863fab46c0 81 }
DeguNaoto 27:88863fab46c0 82 /*if(b==2){
DeguNaoto 26:760f1bce8214 83 if(edge2){
DeguNaoto 26:760f1bce8214 84 edge2=0;
DeguNaoto 26:760f1bce8214 85 targ_sita+=PI/4;
DeguNaoto 26:760f1bce8214 86 }
DeguNaoto 26:760f1bce8214 87 }
DeguNaoto 26:760f1bce8214 88 else if(b==3){
DeguNaoto 26:760f1bce8214 89 if(edge3){
DeguNaoto 26:760f1bce8214 90 edge3=0;
DeguNaoto 26:760f1bce8214 91 targ_sita-=PI/4;
DeguNaoto 26:760f1bce8214 92 }
DeguNaoto 27:88863fab46c0 93 }*/
DeguNaoto 0:b613dc16f27d 94 if(b!=7) edge7=1;
DeguNaoto 0:b613dc16f27d 95 if(b!=1) edge1=1;
DeguNaoto 0:b613dc16f27d 96 if(b!=2) edge2=1;
DeguNaoto 0:b613dc16f27d 97 if(b!=3) edge3=1;
DeguNaoto 0:b613dc16f27d 98 if(b!=4) edge4=1;
DeguNaoto 0:b613dc16f27d 99 if(b!=5) edge5=1;
DeguNaoto 21:bdf8ac5c200c 100 if(b!=6) edge6=1;
DeguNaoto 0:b613dc16f27d 101 if(b!=8) edge8=1;
DeguNaoto 0:b613dc16f27d 102 if(b!=9) edge9=1;
DeguNaoto 0:b613dc16f27d 103 }
DeguNaoto 13:57d8e360e9aa 104
DeguNaoto 0:b613dc16f27d 105 #endif /*manualMode.h*/