2015_robocon_bteam / Mbed 2 deprecated 2015robot_main_zenkoku

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Dependencies:   PID QEI mbed

autoMode.h@36:b8954b13a6d5, 2015-11-15 (annotated)

Committer:
DeguNaoto
Date:
Sun Nov 15 00:30:44 2015 +0000
Revision:
36:b8954b13a6d5
Parent:
35:7b6786193aa2
Child:
37:75fcd28f48c7
20151115 Own&middle??????

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 36:b8954b13a6d5 52 sendData(5,71); //over
DeguNaoto 35:7b6786193aa2 53 // sendData(5,68); //over
unicore32 29:460e49e37048 54 wait(0.05);
DeguNaoto 36:b8954b13a6d5 55 sendData(4,71); //front
DeguNaoto 35:7b6786193aa2 56 // sendData(4,68); //front
unicore32 29:460e49e37048 57 wait(0.05);
DeguNaoto 36:b8954b13a6d5 58 sendData(6,12); //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 35:7b6786193aa2 85 // sendData(5,65); //right
DeguNaoto 35:7b6786193aa2 86 sendData(5,69); //right
DeguNaoto 30:cd344beb415d 87 wait(0.05);
DeguNaoto 35:7b6786193aa2 88 // sendData(4,65); //left
DeguNaoto 35:7b6786193aa2 89 sendData(4,69); //left
DeguNaoto 30:cd344beb415d 90 wait(0.05);
DeguNaoto 36:b8954b13a6d5 91 // sendData(6,10); //middle
DeguNaoto 36:b8954b13a6d5 92 sendData(6,12); //middle
DeguNaoto 30:cd344beb415d 93 stateR = 69;
DeguNaoto 33:a4323c20494b 94 stateL = 69;
DeguNaoto 30:cd344beb415d 95 #else
DeguNaoto 30:cd344beb415d 96 sendData(5,69); //right
DeguNaoto 30:cd344beb415d 97 wait(0.05);
DeguNaoto 30:cd344beb415d 98 sendData(4,69); //left
DeguNaoto 30:cd344beb415d 99 wait(0.05);
DeguNaoto 30:cd344beb415d 100 sendData(6,69); //middle
DeguNaoto 30:cd344beb415d 101 stateR = 69;
DeguNaoto 30:cd344beb415d 102 stateL = 69;
DeguNaoto 30:cd344beb415d 103 #endif
DeguNaoto 30:cd344beb415d 104 step = 10;
DeguNaoto 30:cd344beb415d 105 CStep = 10;
DeguNaoto 0:b613dc16f27d 106 flaga = 1;
DeguNaoto 0:b613dc16f27d 107 }
DeguNaoto 0:b613dc16f27d 108 }
DeguNaoto 36:b8954b13a6d5 109 else if(b==1){
DeguNaoto 36:b8954b13a6d5 110 if(edge1){
DeguNaoto 36:b8954b13a6d5 111 edge1=0;
DeguNaoto 36:b8954b13a6d5 112 sendData(1,5);
DeguNaoto 36:b8954b13a6d5 113 }
DeguNaoto 36:b8954b13a6d5 114 }
DeguNaoto 36:b8954b13a6d5 115 else if(b==2){
DeguNaoto 36:b8954b13a6d5 116 if(edge2){
DeguNaoto 36:b8954b13a6d5 117 edge2=0;
DeguNaoto 36:b8954b13a6d5 118 sendData(1,4);
DeguNaoto 36:b8954b13a6d5 119 }
DeguNaoto 36:b8954b13a6d5 120 }
DeguNaoto 36:b8954b13a6d5 121 else if(b==3){
DeguNaoto 36:b8954b13a6d5 122 if(edge3){
DeguNaoto 36:b8954b13a6d5 123 edge3=0;
DeguNaoto 36:b8954b13a6d5 124 sendData(1,6);
DeguNaoto 36:b8954b13a6d5 125 }
DeguNaoto 36:b8954b13a6d5 126 }
DeguNaoto 36:b8954b13a6d5 127 else if(b==4){
DeguNaoto 36:b8954b13a6d5 128 if(edge4){
DeguNaoto 36:b8954b13a6d5 129 edge4=0;
DeguNaoto 36:b8954b13a6d5 130 sendData(1,8);
DeguNaoto 36:b8954b13a6d5 131 }
DeguNaoto 36:b8954b13a6d5 132 }
DeguNaoto 21:bdf8ac5c200c 133 /*if(a2){
DeguNaoto 0:b613dc16f27d 134 skip = 1;
DeguNaoto 0:b613dc16f27d 135 }
DeguNaoto 0:b613dc16f27d 136 else if(!a2){
DeguNaoto 0:b613dc16f27d 137 skip = 0;
DeguNaoto 21:bdf8ac5c200c 138 }*/
DeguNaoto 21:bdf8ac5c200c 139 skip=0;
DeguNaoto 0:b613dc16f27d 140 if(b!=1) edge1=1;
DeguNaoto 0:b613dc16f27d 141 if(b!=2) edge2=1;
DeguNaoto 0:b613dc16f27d 142 if(b!=3) edge3=1;
DeguNaoto 0:b613dc16f27d 143 if(b!=4) edge4=1;
DeguNaoto 0:b613dc16f27d 144 if(b!=5) edge5=1;
DeguNaoto 0:b613dc16f27d 145 if(b!=6) edge6=1;
DeguNaoto 0:b613dc16f27d 146 if(b!=7) edge7=1;
DeguNaoto 0:b613dc16f27d 147 if(b!=8) edge8=1;
DeguNaoto 0:b613dc16f27d 148 if(b!=9) edge9=1;
DeguNaoto 30:cd344beb415d 149 if(b!=10) edge10=1;
DeguNaoto 30:cd344beb415d 150 if(b!=11) edge11=1;
DeguNaoto 0:b613dc16f27d 151 }
DeguNaoto 0:b613dc16f27d 152
DeguNaoto 0:b613dc16f27d 153
DeguNaoto 30:cd344beb415d 154 #endif /*autoMode.h*/