2015_robocon_bteam / Mbed 2 deprecated 2015robot_main_zenkoku

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Dependencies:   PID QEI mbed

manualMode.h@34:aa2a5c888a27, 2015-11-13 (annotated)

Committer:
DeguNaoto
Date:
Fri Nov 13 08:51:09 2015 +0000
Revision:
34:aa2a5c888a27
Parent:
33:a4323c20494b
Child:
36:b8954b13a6d5
20151112 ???

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 33:a4323c20494b 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 30:cd344beb415d 12 resetState(1);
DeguNaoto 0:b613dc16f27d 13 flaga=0;
DeguNaoto 0:b613dc16f27d 14 step=114;
DeguNaoto 0:b613dc16f27d 15 CStep=114;
DeguNaoto 30:cd344beb415d 16 mstep=114;
DeguNaoto 30:cd344beb415d 17 mCStep=114;
DeguNaoto 3:8d8c25c556ae 18 spcount=speed;
DeguNaoto 26:760f1bce8214 19 dpcount=0.0;
DeguNaoto 0:b613dc16f27d 20 }
DeguNaoto 33:a4323c20494b 21 }*/
DeguNaoto 33:a4323c20494b 22 if(modeflag){ //mode change
DeguNaoto 33:a4323c20494b 23 autoflag=1;
DeguNaoto 33:a4323c20494b 24 Indicator4=1;
DeguNaoto 33:a4323c20494b 25 IndicatorAuto=0;
DeguNaoto 33:a4323c20494b 26 resetState(1);
DeguNaoto 33:a4323c20494b 27 flaga=0;
DeguNaoto 33:a4323c20494b 28 step=114;
DeguNaoto 33:a4323c20494b 29 CStep=114;
DeguNaoto 33:a4323c20494b 30 mstep=114;
DeguNaoto 33:a4323c20494b 31 mCStep=114;
DeguNaoto 33:a4323c20494b 32 spcount=speed;
DeguNaoto 33:a4323c20494b 33 dpcount=0.0;
DeguNaoto 0:b613dc16f27d 34 }
DeguNaoto 34:aa2a5c888a27 35 if(b==9){
DeguNaoto 34:aa2a5c888a27 36 if(edge9){
DeguNaoto 34:aa2a5c888a27 37 edge9=0;
DeguNaoto 34:aa2a5c888a27 38 toggle9=!toggle9;
DeguNaoto 34:aa2a5c888a27 39 if(toggle9){
DeguNaoto 34:aa2a5c888a27 40 // swingspeed=15.0;
DeguNaoto 34:aa2a5c888a27 41 // swingspeed=20.0;
DeguNaoto 34:aa2a5c888a27 42 swingspeed=25.0;
DeguNaoto 34:aa2a5c888a27 43 resetSwingSpeed = 1;
DeguNaoto 34:aa2a5c888a27 44 interruptSwingSpeed.attach(&countSwingSpeed, 0.05);
DeguNaoto 34:aa2a5c888a27 45 enableSwing=1;
DeguNaoto 34:aa2a5c888a27 46 /*for(float i=0.0;i<1.0;i+=0.01){
DeguNaoto 34:aa2a5c888a27 47 Motor_swing=i;
DeguNaoto 34:aa2a5c888a27 48 wait(0.01);
DeguNaoto 34:aa2a5c888a27 49 }
DeguNaoto 34:aa2a5c888a27 50 Motor_swing = 1.0;*/
DeguNaoto 3:8d8c25c556ae 51 }
DeguNaoto 34:aa2a5c888a27 52 else{
DeguNaoto 34:aa2a5c888a27 53 interruptSwingSpeed.detach();
DeguNaoto 34:aa2a5c888a27 54 targSwingRadVelocity = 0.0;
DeguNaoto 34:aa2a5c888a27 55 enableSwing=0;
DeguNaoto 34:aa2a5c888a27 56 contSwing.reset();
DeguNaoto 34:aa2a5c888a27 57 Motor_swing = 0.0;
DeguNaoto 34:aa2a5c888a27 58 }
DeguNaoto 3:8d8c25c556ae 59 }
DeguNaoto 3:8d8c25c556ae 60 }
DeguNaoto 34:aa2a5c888a27 61 else if(b==10){
DeguNaoto 34:aa2a5c888a27 62 if(edge10){
DeguNaoto 34:aa2a5c888a27 63 edge10=0;
DeguNaoto 33:a4323c20494b 64 enableShoot=!enableShoot;
DeguNaoto 33:a4323c20494b 65 if(enableShoot) sendData(1,11);
DeguNaoto 33:a4323c20494b 66 else sendData(1,12);
DeguNaoto 0:b613dc16f27d 67 }
DeguNaoto 0:b613dc16f27d 68 }
DeguNaoto 33:a4323c20494b 69 else if((b==5)&&(!flaga)){ //Swing Start
DeguNaoto 33:a4323c20494b 70 if(edge5){
DeguNaoto 33:a4323c20494b 71 edge5=0;
DeguNaoto 30:cd344beb415d 72 resetState(0);
DeguNaoto 32:b8c8ad2eeca7 73 flagf=0;
DeguNaoto 30:cd344beb415d 74 spcount=0.0;
DeguNaoto 30:cd344beb415d 75 dpcount=0.0;
DeguNaoto 30:cd344beb415d 76 direction_controller.setBias(0.0);
DeguNaoto 32:b8c8ad2eeca7 77 sendData(5,60); //right
DeguNaoto 30:cd344beb415d 78 wait(0.05);
DeguNaoto 32:b8c8ad2eeca7 79 sendData(4,60); //left
DeguNaoto 30:cd344beb415d 80 wait(0.05);
DeguNaoto 32:b8c8ad2eeca7 81 sendData(6,30); //middle
DeguNaoto 30:cd344beb415d 82 stateR = 90;
DeguNaoto 30:cd344beb415d 83 stateL = 90;
DeguNaoto 30:cd344beb415d 84 mstep = 0;
DeguNaoto 33:a4323c20494b 85 mCStep = 114;
DeguNaoto 33:a4323c20494b 86 flaga = 1;
DeguNaoto 33:a4323c20494b 87 }
DeguNaoto 33:a4323c20494b 88 }
DeguNaoto 33:a4323c20494b 89 else if((b==8)&&(!flaga)){
DeguNaoto 33:a4323c20494b 90 if(edge8){
DeguNaoto 33:a4323c20494b 91 edge8=0;
DeguNaoto 33:a4323c20494b 92 resetState(1);
DeguNaoto 33:a4323c20494b 93 flagf=1;
DeguNaoto 33:a4323c20494b 94 spcount=0.0;
DeguNaoto 33:a4323c20494b 95 dpcount=0.0;
DeguNaoto 33:a4323c20494b 96 direction_controller.setBias(0.0);
DeguNaoto 33:a4323c20494b 97 #ifdef BLUE
DeguNaoto 33:a4323c20494b 98 sendData(5,60); //right
DeguNaoto 33:a4323c20494b 99 wait(0.05);
DeguNaoto 33:a4323c20494b 100 sendData(4,60); //left
DeguNaoto 33:a4323c20494b 101 wait(0.05);
DeguNaoto 33:a4323c20494b 102 sendData(6,10); //middle
DeguNaoto 33:a4323c20494b 103 stateR = 69;
DeguNaoto 33:a4323c20494b 104 stateL = 69;
DeguNaoto 33:a4323c20494b 105 #else
DeguNaoto 33:a4323c20494b 106 sendData(5,60); //right
DeguNaoto 33:a4323c20494b 107 wait(0.05);
DeguNaoto 33:a4323c20494b 108 sendData(4,60); //left
DeguNaoto 33:a4323c20494b 109 wait(0.05);
DeguNaoto 33:a4323c20494b 110 sendData(6,10); //middle
DeguNaoto 33:a4323c20494b 111 stateR = 69;
DeguNaoto 33:a4323c20494b 112 stateL = 69;
DeguNaoto 33:a4323c20494b 113 #endif
DeguNaoto 33:a4323c20494b 114 stateR = 90;
DeguNaoto 33:a4323c20494b 115 stateL = 90;
DeguNaoto 33:a4323c20494b 116 mstep = 10;
DeguNaoto 33:a4323c20494b 117 mCStep = 0;
DeguNaoto 30:cd344beb415d 118 flaga = 1;
DeguNaoto 26:760f1bce8214 119 }
DeguNaoto 26:760f1bce8214 120 }
DeguNaoto 34:aa2a5c888a27 121 //Move
DeguNaoto 34:aa2a5c888a27 122 if(b==2){
DeguNaoto 34:aa2a5c888a27 123 flagf=1;
DeguNaoto 34:aa2a5c888a27 124 targ_velocity=speed;
DeguNaoto 34:aa2a5c888a27 125 move=1;
DeguNaoto 34:aa2a5c888a27 126 }
DeguNaoto 34:aa2a5c888a27 127 else if(b==3){
DeguNaoto 34:aa2a5c888a27 128 flagf=0;
DeguNaoto 34:aa2a5c888a27 129 targ_velocity=speed;
DeguNaoto 34:aa2a5c888a27 130 move=1;
DeguNaoto 34:aa2a5c888a27 131 }
DeguNaoto 34:aa2a5c888a27 132 else if(move){
DeguNaoto 34:aa2a5c888a27 133 move=0;
DeguNaoto 34:aa2a5c888a27 134 targ_velocity=0.0;
DeguNaoto 34:aa2a5c888a27 135 }
DeguNaoto 34:aa2a5c888a27 136 if(b==1){
DeguNaoto 34:aa2a5c888a27 137 if(edge1){
DeguNaoto 34:aa2a5c888a27 138 edge1=0;
DeguNaoto 34:aa2a5c888a27 139 #ifdef BLUE
DeguNaoto 34:aa2a5c888a27 140 targ_sita+=PI/4.0;
DeguNaoto 34:aa2a5c888a27 141 #else
DeguNaoto 34:aa2a5c888a27 142 targ_sita-=PI/4.0;
DeguNaoto 34:aa2a5c888a27 143 #endif
DeguNaoto 34:aa2a5c888a27 144 }
DeguNaoto 34:aa2a5c888a27 145 }
DeguNaoto 34:aa2a5c888a27 146 else if(b==4){
DeguNaoto 34:aa2a5c888a27 147 if(edge4){
DeguNaoto 34:aa2a5c888a27 148 edge4=0;
DeguNaoto 34:aa2a5c888a27 149 #ifdef BLUE
DeguNaoto 34:aa2a5c888a27 150 targ_sita-=PI/4.0;
DeguNaoto 34:aa2a5c888a27 151 #else
DeguNaoto 34:aa2a5c888a27 152 targ_sita+=PI/4.0;
DeguNaoto 34:aa2a5c888a27 153 #endif
DeguNaoto 34:aa2a5c888a27 154 }
DeguNaoto 34:aa2a5c888a27 155 }
DeguNaoto 0:b613dc16f27d 156 if(b!=1) edge1=1;
DeguNaoto 0:b613dc16f27d 157 if(b!=2) edge2=1;
DeguNaoto 0:b613dc16f27d 158 if(b!=3) edge3=1;
DeguNaoto 0:b613dc16f27d 159 if(b!=4) edge4=1;
DeguNaoto 0:b613dc16f27d 160 if(b!=5) edge5=1;
DeguNaoto 21:bdf8ac5c200c 161 if(b!=6) edge6=1;
DeguNaoto 30:cd344beb415d 162 if(b!=7) edge7=1;
DeguNaoto 0:b613dc16f27d 163 if(b!=8) edge8=1;
DeguNaoto 0:b613dc16f27d 164 if(b!=9) edge9=1;
DeguNaoto 30:cd344beb415d 165 if(b!=10) edge10=1;
DeguNaoto 30:cd344beb415d 166 if(b!=11) edge11=1;
DeguNaoto 0:b613dc16f27d 167 }
DeguNaoto 13:57d8e360e9aa 168
DeguNaoto 30:cd344beb415d 169 #endif /*manualMode.h*/